Oriental motor AZM14, AZ, AZM46, AZM48, AZM66 User Manual

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Stepping Motor and Driver Package

HM-60262-6

Before starting operation

Operation

Series/ Motorized actuator equipped the

Series

Function Edition

I/O signals

Parameter

Method of control via Modbus RTU (RS-485 communication)

Method of control via industrial network

Address list

Measures for various cases

Alarm and information

Thank you for purchasing an Oriental Motor product.

This Manual describes product handling procedures and safety precautions.

•Please read it thoroughly to ensure safe operation.

•Always keep the manual where it is readily available.

Extended setting for pulse-input operation

Appendix

1 Characteristics of the AZ Series ..........................................................................................................................10

2 Operations possible with the AZ Series ............................................................................................................12

3 Types and overview of driver .............................................................................................................................. 14

4 How to use OPERATING MANUALS for product ...............................................................................................16

5 Expansion of supported contents ......................................................................................................................18

1 Before starting operation

1 Steps of preparation for operation ....................................................................................................................20

2 Starting the

MEXE02

...........................................................................................................................................21

3 Copying the xed value (parameter) of the ABZO sensor to driver .............................................................22

4 Creation of recovery data le and method of recovery ................................................................................. 24

4-1 Creating the recovery data le ....................................................................................................................................................... 24

4-2 Method of recovery ............................................................................................................................................................................ 26

5 Setting of display unit and resolution ...............................................................................................................29

5-1 Setting example for when an index table is used ................................................................................................................... 29

5-2 Setting example for when a linear mechanism is assembled ............................................................................................. 32

6 Home position setting ..........................................................................................................................................36

7 Wrap setting ...........................................................................................................................................................39

8 Setting of software limit ......................................................................................................................................44

9 Operation check ....................................................................................................................................................47

10 Backup of data .......................................................................................................................................................50

2 Operation

1 Flow of setting required for positioning operation ........................................................................................ 52

2 Setting of resolution .............................................................................................................................................53

3 Stored data (SD) operation ..................................................................................................................................55

3-1 Types of stored data (SD) operation ............................................................................................................................................. 55

3-2 Setting of data ...................................................................................................................................................................................... 59

3-3 Positioning SD operation ................................................................................................................................................................. 66

3-4 Positioning push-motion SD operation ...................................................................................................................................... 75

3-5 Continuous SD operation ................................................................................................................................................................. 78

3-6 Mode for link operation of operation data ................................................................................................................................ 83

3-7 Sequence function .............................................................................................................................................................................. 93

3-8 Extended operation data setting .................................................................................................................................................. 99

3-9 Stop operation ...................................................................................................................................................................................101

3-10 Base current and stop current ......................................................................................................................................................103

3-11 Acceleration/deceleration unit ....................................................................................................................................................104

3-12 Starting speed ....................................................................................................................................................................................104

4 Return-to-home operation ................................................................................................................................105

4-1 High-speed return-to-home operation .....................................................................................................................................105

4-2 Return-to-home operation ............................................................................................................................................................107

5 Macro operation ..................................................................................................................................................121

5-1 Types of macro operation ..............................................................................................................................................................121

5-2 JOG operation.....................................................................................................................................................................................122

5-3 High-speed JOG operation ............................................................................................................................................................124

5-4 Inching operation .............................................................................................................................................................................126

5-5 Combined JOG operation ..............................................................................................................................................................128

5-6 Continuous operation .....................................................................................................................................................................130

5-7 Speed control operation .................................................................................................................................................................132

5-8 Speed control push-motion operation .....................................................................................................................................134

6 Relationship between operation type and operation data and parameter .............................................136

7 Position coordinate management ...................................................................................................................140

7-1 Overview of position coordinate management .....................................................................................................................140

7-2 Position coordinate origin ..............................................................................................................................................................144

7-3 Parameters related to ABZO sensor ............................................................................................................................................145

7-4 Mechanism settings parameter ...................................................................................................................................................146

7-5 Initial coordinate generation & wrap coordinate parameter ............................................................................................147

7-6 Mechanism limit ...............................................................................................................................................................................152

7-7 Mechanism protection ....................................................................................................................................................................152

7-8 Position coordinate information monitor function ..............................................................................................................153

3 I/O signals

1 Overview of I/O signals ......................................................................................................................................158

1-1 Overview of input signals...............................................................................................................................................................158

1-2 Overview of output signals ...........................................................................................................................................................159

1-3 Setting contents of input signals and output signals ..........................................................................................................160

2 Signal list ...............................................................................................................................................................165

2-1 Input signal list ...................................................................................................................................................................................165

2-2 Output signal list ...............................................................................................................................................................................167

3 Signal types ..........................................................................................................................................................172

3-1 Direct I/O ..............................................................................................................................................................................................172

3-2 Remote I/O ...........................................................................................................................................................................................181

4 Input signals .........................................................................................................................................................183

4-1 Operation control ..............................................................................................................................................................................183

4-2 Position coordinate management ..............................................................................................................................................202

4-3 Management of driver .....................................................................................................................................................................204

5 Output signals ......................................................................................................................................................207

5-1 Management of driver .....................................................................................................................................................................207

5-2 Management of operation .............................................................................................................................................................208

5-3 Latch information indication ........................................................................................................................................................217

5-4 Response output ...............................................................................................................................................................................218

6 Timing chart .........................................................................................................................................................219

7 Power removal function (ETO function: External Torque O function) ....................................................222

7-1 Block diagram .....................................................................................................................................................................................222

7-2 Wiring example ..................................................................................................................................................................................223

7-3 Detection for error of the ETO function ....................................................................................................................................223

7-4 Reset of ETO-mode ...........................................................................................................................................................................224

7-5 Related parameters ..........................................................................................................................................................................224

7-6 Timing chart ........................................................................................................................................................................................225

7-7 For safe use ..........................................................................................................................................................................................227

4 Parameters

1 Parameter: Base setting .....................................................................................................................................230

2 Parameter: Motor and Mechanism (Coordinates/JOG/Home Operation) ................................................233

3 Parameter: ETO and Alarm and Info ................................................................................................................236

4 Parameter: I/O action and function .................................................................................................................239

5 Parameter: Direct-IN function ...........................................................................................................................244

6 Parameter: Direct-OUT function .......................................................................................................................245

7 Parameter: Remote-I/O function (R-I/O) .........................................................................................................246

8 Parameter: EXT-IN and VIR-IN and USR-OUT function (Extend) .................................................................248

9 Parameter: Communication & I/F .....................................................................................................................250

10 I/O signal assignment list ...................................................................................................................................256

10-1 Input signals ........................................................................................................................................................................................256

10-2 Output signals ....................................................................................................................................................................................257

5 Method of control via Modbus RTU (RS-485 communication)

1 Specication of Modbus RTU ............................................................................................................................260

1-1 Communication specications .....................................................................................................................................................260

1-2 Communication timing ...................................................................................................................................................................263

2 Message structure ...............................................................................................................................................264

2-1 Query .....................................................................................................................................................................................................264

2-2 Response ..............................................................................................................................................................................................266

3 Function codes .....................................................................................................................................................268

3-1 Reading from a holding register(s) (03h) ..................................................................................................................................268

3-2 Writing to a holding register (06h) ..............................................................................................................................................269

3-3 Diagnosis (08h) ..................................................................................................................................................................................270

3-4 Writing to multiple holding registers (10h) .............................................................................................................................271

3-5 Read/write of multiple holding registers (17h) ......................................................................................................................272

4 Flow of setting required for Modbus communication .................................................................................274

5 Guidance ...............................................................................................................................................................275

6 Setting of switches ..............................................................................................................................................279

6-1 Protocol .................................................................................................................................................................................................279

6-2 Address number (slave address) ..................................................................................................................................................280

6-3 Transmission rate...............................................................................................................................................................................280

6-4 Termination resistor .........................................................................................................................................................................281

7 Setting of RS-485 communication ...................................................................................................................282

7-1 Parameters reected when turning on the power ................................................................................................................282

7-2 Parameters reected immediately after rewriting ................................................................................................................283

7-3 Forcible return of parameters to initial values (default function) ....................................................................................283

8 Example of data setting in Modbus RTU mode .............................................................................................284

8-1 Remote I/O command .....................................................................................................................................................................284

8-2 Positioning operation ......................................................................................................................................................................286

8-3 Continuous operation .....................................................................................................................................................................288

8-4 High-speed return-to-home operation .....................................................................................................................................292

9 Data setting method ...........................................................................................................................................294

9-1 Overview of setting method .........................................................................................................................................................294

9-2 Direct reference .................................................................................................................................................................................294

9-3 Indirect reference ..............................................................................................................................................................................295

10 Direct data operation .........................................................................................................................................302

10-1 Overview of direct data operation ..............................................................................................................................................302

10-2 Guidance ..............................................................................................................................................................................................303

10-3 Commands required for direct data operation ......................................................................................................................307

11 Group send ...........................................................................................................................................................312

12 Timing chart .........................................................................................................................................................314

12-1 Communication start .......................................................................................................................................................................314

12-2 Start of operation ..............................................................................................................................................................................314

12-3 Operation stop, speed change .....................................................................................................................................................314

12-4 General signals ...................................................................................................................................................................................315

12-5 Conguration ......................................................................................................................................................................................315

13 Detection of communication errors ................................................................................................................316

13-1 Communication errors ....................................................................................................................................................................316

13-2 Alarms related to RS-485 communication ...............................................................................................................................316

6 Method of control via industrial network

1 Flow of setting required for control via

industrial network ...............................................................................................................................................318

2 Setting of switches ..............................................................................................................................................319

2-1 Protocol .................................................................................................................................................................................................319

2-2 Address number (slave address) ..................................................................................................................................................320

2-3 Transmission rate...............................................................................................................................................................................320

2-4 Termination resistor .........................................................................................................................................................................320

3 Method of control via CC-Link communication .............................................................................................322

3-1 Guidance ..............................................................................................................................................................................................322

3-2 Operation example of command selection method ............................................................................................................327

3-3 Operation example of command xation method ...............................................................................................................334

4 Method of control via EtherCAT communication ..........................................................................................340

4-1 Guidance ..............................................................................................................................................................................................340

4-2 Basic operating procedures ...........................................................................................................................................................345

5 Group function.....................................................................................................................................................348

5-1 Group address ....................................................................................................................................................................................349

5-2 Group action modes ........................................................................................................................................................................349

6 Simple direct data operation ............................................................................................................................352

6-1 Types of simple direct data operation .......................................................................................................................................352

6-2 How to use simple direct data operation monitor 0 ............................................................................................................353

6-3 How to use simple direct data operation monitor 1 ............................................................................................................355

7 Detection of communication errors ................................................................................................................357

7-1 Communication errors ....................................................................................................................................................................357

7-2 Alarms ....................................................................................................................................................................................................358

7 Address/code lists

1 Update timing of parameters ............................................................................................................................360

2 I/O commands ......................................................................................................................................................361

3 Group commands ................................................................................................................................................363

4 Protect release commands ................................................................................................................................364

5 Direct data operation commands ....................................................................................................................365

6 Simple direct data operation commands .......................................................................................................367

7 Maintenance commands....................................................................................................................................368

7-1 How to execute maintenance commands ...............................................................................................................................369

8 Monitor commands .............................................................................................................................................370

9 Overview of operation data R/W command address arrangement ...........................................................381

9-1 Overview of direct reference .........................................................................................................................................................382

9-2 Overview of oset reference .........................................................................................................................................................382

9-3 Overview of direct reference (compatible) ..............................................................................................................................382

10 Operation data R/W commands .......................................................................................................................383

10-1 Direct reference (Modbus communication) ............................................................................................................................383

10-2 Oset reference (Modbus communication) ............................................................................................................................388

10-3 Oset reference (industrial network) .........................................................................................................................................388

11 Operation data R/W commands (compatible) ...............................................................................................395

11-1 Direct reference (Modbus communication) ............................................................................................................................395

11-2 Direct reference (industrial network) .........................................................................................................................................396

12 Operation I/O event R/W commands ...............................................................................................................398

12-1 Setting method ..................................................................................................................................................................................398

12-2 Direct reference .................................................................................................................................................................................398

12-3 Oset reference .................................................................................................................................................................................400

13 Extended operation data setting R/W commands ........................................................................................402

14 Parameter R/W commands ................................................................................................................................403

14-1 Driver action simulation setting parameter ............................................................................................................................403

14-2 Base setting parameters .................................................................................................................................................................403

14-3 Position coordinate parameters...................................................................................................................................................404

14-4 Operation parameters .....................................................................................................................................................................405

14-5 Direct data operation parameters ...............................................................................................................................................405

14-6 ABZO sensor setting parameters .................................................................................................................................................406

14-7 Mechanism settings parameters .................................................................................................................................................406

14-8 Initial coordinate generation & wrap coordinate parameters ..........................................................................................407

14-9 JOG/HOME/ZHOME operation information setting parameters .....................................................................................407

14-10 Power removal function setting parameters ..........................................................................................................................409

14-11 Alarm setting parameters ..............................................................................................................................................................409

14-12 Information setting parameters ...................................................................................................................................................409

14-13 I/O parameter .....................................................................................................................................................................................412

14-14 Direct I/O setting parameters .......................................................................................................................................................416

14-15 Remote I/O setting parameters ....................................................................................................................................................419

14-16 Extended input setting parameters ...........................................................................................................................................422

14-17 Dierential output setting parameters .....................................................................................................................................422

14-18 Virtual input parameters .................................................................................................................................................................423

14-19 User output setting parameters ...................................................................................................................................................424

14-20 Driver mode setting parameters .................................................................................................................................................424

14-21 LED status indication setting parameters ................................................................................................................................425

14-22 RS-485 communication setting parameters ............................................................................................................................425

14-23 Indirect reference setting parameters .......................................................................................................................................427

14-24 Our exclusive parameters for maintenance. ............................................................................................................................428

15 I/O signal assignment list ...................................................................................................................................429

15-1 Input signals ........................................................................................................................................................................................429

15-2 Output signals ....................................................................................................................................................................................430

8 Measures for various cases

1 Vibration suppression ........................................................................................................................................434

1-1 LPF (speed lter) and moving average lter............................................................................................................................434

1-2 Smooth drive function ....................................................................................................................................................................435

1-3 Resonance suppression ..................................................................................................................................................................436

2 Suppression of heat generation and noise ....................................................................................................437

2-1 Automatic current cutback function ..........................................................................................................................................437

2-2 Current control mode ......................................................................................................................................................................437

2-3 Ramp up/ramp down rate of operating current ....................................................................................................................440

2-4 Deviation acceleration suppression ...........................................................................................................................................440

3 Backup of data of

MEXE02

in driver ...............................................................................................................441

4 Check of product information...........................................................................................................................442

5 Copying the setting value of the ABZO sensor to a driver ..........................................................................444

6 Indicating the warning before writing data ...................................................................................................445

7 Monitoring of load factor...................................................................................................................................447

8 Utilizing the waveform monitor .......................................................................................................................448

9 Alarm and information

1 Alarms ....................................................................................................................................................................452

1-1 Alarm reset ...........................................................................................................................................................................................452

1-2 Alarm records......................................................................................................................................................................................452

1-3 Alarm generation conditions ........................................................................................................................................................452

1-4 Alarm list ...............................................................................................................................................................................................453

1-5 Monitor of alarm records ................................................................................................................................................................460

1-6 Timing charts ......................................................................................................................................................................................464

2 Information ...........................................................................................................................................................466

2-1 Information records ..........................................................................................................................................................................469

2-2 Information list ...................................................................................................................................................................................469

2-3 Monitor of information function .................................................................................................................................................472

3 Utilization for maintenance of equipment .....................................................................................................473

3-1 Cumulative load .................................................................................................................................................................................473

3-2 Tripmeter (travel distance) and odometer (cumulative travel distance) .......................................................................475

3-3 Latch function ....................................................................................................................................................................................476

10 Extended setting for pulse-input operation

1 Flow of operation and extended setting ........................................................................................................482

2 Setting with switches (only for pulse-input type) .........................................................................................483

2-1 Resolution ............................................................................................................................................................................................483

2-2 Pulse input mode ..............................................................................................................................................................................484

2-3 Operating current .............................................................................................................................................................................484

2-4 Command lter ..................................................................................................................................................................................485

3 Extending settings by parameters ...................................................................................................................487

3-1 Resolution ............................................................................................................................................................................................487

3-2 Pulse input mode ..............................................................................................................................................................................487

3-3 Operating current .............................................................................................................................................................................489

3-4 Command lter ..................................................................................................................................................................................489

4 I/O signals related to pulse-input operation ..................................................................................................491

4-1 LED (only for the pulse-input type) ............................................................................................................................................491

4-2 Input signals ........................................................................................................................................................................................491

4-3 Output signal ......................................................................................................................................................................................492

4-4 Timing chart ........................................................................................................................................................................................494

5 Monitor function .................................................................................................................................................495

5-1 I/O position output function .........................................................................................................................................................495

5-2 Pulse request function.....................................................................................................................................................................497

6 Push-motion operation ......................................................................................................................................499

6-1 Preparation for operation ...............................................................................................................................................................499

6-2 Performing the push-motion operation ...................................................................................................................................502

6-3 Timing chart ........................................................................................................................................................................................503

11 Appendix

1 Change of function of HOME PRESET switch .................................................................................................506

2 Change of assignments of A-phase/B-phase outputs ..................................................................................507

3 LEDs on the driver ...............................................................................................................................................509

3-1 Lighting state of LEDs ......................................................................................................................................................................509

3-2 Change of lighting condition of LED ..........................................................................................................................................510

4 Simulating the driver operation .......................................................................................................................511

4-1 Preparation and operating procedure of the driver simulation mode ..........................................................................512

4-2 Coordinate ...........................................................................................................................................................................................516

4-3 Monitor .................................................................................................................................................................................................517

4-4 Operation .............................................................................................................................................................................................518

4-5 I/O signals .............................................................................................................................................................................................519

4-6 Alarm .....................................................................................................................................................................................................520

5 Use of general signals .........................................................................................................................................521

1 Characteristics of the

HOME

(3)

LS +LS

ABZO sensor

stored in the AZ Series

Built-in ABZO sensor

The ABZO sensor is a small-sized low-cost mechanical multirotation absolute sensor that does not require a battery. It can detect the absolute positions for 1800 revolutions of the motor shaft from the reference home position, so the position is never missed.

* The motors of frame size 20 mm (0.79 in.) or 28 mm (1.10 in.) are for 900

revolutions.

No external sensor is required

Return-to-home operation can be executed without using external sensors such as the home position sensor and limit sensors.

zSaving of wiring

Series

zCost-cutting for the system

zNot inuenced by malfunction of the sensor

No external sensor is required

Return-to-home time has been shortened

zNo return-to-home operation is required

Since the position information is maintained even if the power is interrupted, positioning operation can be continued without return-to-home operation after emergency stop or power failure.

zHigh-speed return-to-home

Since the ABZO sensor stores the home position, the motor can return to the home position at a high speed.

Home position detection of traditional position-

control motors

The home position is detected at a low speed by sensing

the limit sensor and the home position sensor.

(2)

(1)

Home position detection of the AZ Series

The motor directly returns to the home position stored in the ABZO sensor at a high speed.

(1)

Home position

No battery is required

No battery is required because the position information is maintained by the ABZO sensor.

zReduction of maintenance frequency

zReplacing a battery is not required

zThe position information is maintained for a long transportation period of equipment

2 Operations possible with the

Speed

Time

START input

Speed

Time

START input

Push-motion

Speed

Time

START input

Speed

Coordinate

Loop oset

push-motion

Sensor

Speed

Series

Execute operation by setting the motor operating speed, position (travel amount)

and other items as operation data

Stored data (SD) operation p.55

Positioning operation is performed. Push-motion operation is performed. Continuous operation is performed.

Positioning SD

operation

The command position of the rotating mechanism is returned to "0" for every rotation.

p.66

Positioning push-motion

SD operation

p.75

Continuous SD

operation

p.78

The position and the speed can be set easily

with the

MEXE02.

Wrap function p.142

Use of sequence function

Linked operations are repeated for the number of times specied. When you use the loop oset function, you can increase or decrease the travel amount every time the operation is repeated.

Absolute positioning

operation

X-axis

Absolute positioning

operation

Loop function p.93 Loop oset function

Operation is transited by setting an arbitrary I/O signal as a trigger. The motor can transit to a dierent operation depending on whether or not the trigger signal has been detected.

Torque control

Push-motion

operation

Coordinate

With push-motion

Continuous

operation

Z-axis

Absolute positioning

operation

Event jump function p.95

Without

Return to the home position

ABZO sensor

HOME

(3)

LS +LS

The motor returns to the home position at the speed same as normal positioning operation without using an external sensor.

(1)

Home position

stored in the AZ Series

High-speed return-to-home

operation

p.105 Return-to-home operation p.107

The motor returns to the home position by using external sensors or the stopper on the machine.

(2)

(1)

Perform test operation and operation check

zMacro operation (_p.121)

A specic input signal is turned ON to execute the operation corresponding to the signal. The operating speed, travel amount, acceleration/deceleration rate are set with parameters.

Start operation at the same time as writing of operation data

(Modbus RTU)

zDirect data operation (_p.302)

You can use this operation to change the setting of operation data frequently, to change the speed and travel amount according to the load, for example. When the data of the trigger set to be reected is input by using the touch panel, etc., it is reected to the operation at the same time as input.

Perform operation by inputting pulses

zPulse-input operation (_p.481)

Operation data are set to the master controller to execute operation. The operation data to be executed are selected in the master controller.

Pulse input operation cannot be executed with the built-in controller type driver.

3 Types and overview of driver

There are 3 types of drivers in the AZ Series as shown below. I/O signals, setting items, and LEDs vary depending on the driver type.

AC power input type

 Built-in controller type

 Operates via industrial network  Monitors the motor information via a

programmable controller or touchscreen

 Operates via RS-485 communication  Operates via I/O control

 Pulse input type with RS-485

communication interface

 Operates via industrial network  Monitors the motor information via a

programmable controller or touchscreen

 Operates via RS-485 communication  Operates via I/O control  Operates by pulse input

PWR/ALM LED C-DAT/C-ERR LED

Address number

Transmission rate

Function setting switch

 Protocol  Address number (extended)

1 2

Pin Nos.1, 2, 13, and 14

are for control input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

PWR/ALM LED C-DAT/C-ERR LED

Address number

Transmission rate

Function setting switch

 Protocol  Address number (extended)

Pin Nos.1, 2, 13, and 14

are for pulse input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

DIN0 [START]

DIN2 [M1]

DIN1 [M0]

DIN3 [M2]

CW+ [PLS+]

CCW+ [DIR+]

CW- [PLS-]

CCW- [DIR-]

 Pulse input type

 Operates by pulse input

PWR/ALM LED READY LED

Base current rate

Command lter

Function setting switch

 Pulse input mode  Resolution

1 2

Pin Nos.1, 2, 13, and 14

are for pulse input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

CW+ [PLS+]

CCW+ [DIR+]

CW- [PLS-]

CCW- [DIR-]

DC power input type

 Built-in controller type

POWER/ALARM LED

C-DAT/C-ERR LED

Function setting switch

 Protocol  Address number (extended)

Address number

Transmission rate

 Operates via industrial network  Monitors the motor information via a

programmable controller or touchscreen

 Operates via RS-485 communication  Operates via I/O control

 Pulse input type with RS-485

communication interface

POWER/ALARM LED

C-DAT/C-ERR LED

 Operates via industrial network  Monitors the motor information via a

programmable controller or touchscreen

 Operates via RS-485 communication  Operates via I/O control  Operates by pulse input

1 2

Pin Nos.1, 2, 13, and 14

are for control input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

DIN0 [START]

DIN2 [M1]

DIN1 [M0]

DIN3 [M2]

Function setting switch

 Protocol  Address number (extended)

Address number

Transmission rate

1 2

Pin Nos.1, 2, 13, and 14

are for pulse input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

CW+ [PLS+]

CCW+ [DIR+]

CW- [PLS-]

CCW- [DIR-]

 Pulse input type

POWER/ALARM LED

READY LED

 Operates by pulse input

When "PULSE-I/F" is described in this manual or the

When "PULSE-I/F" is described in this manual or the

•Pulse input type with RS-485 communication interface.

•Pulse input type

MEXE02

Function setting switch

 Pulse input mode  Resolution

Base current rate

Command lter

1 2

Pin Nos.1, 2, 13, and 14

are for pulse input

Pin No.1

Pin No.2

Pin No.13

Pin No.14

CW+ [PLS+]

CCW+ [DIR+]

CW- [PLS-]

CCW- [DIR-]

MEXE02

, the contents are applied to the following drivers.

4 How to use OPERATING MANUALS for

product

OPERATING MANUALS for the AZ Series are listed below. The OPERATING MANUAL Function Edition (this manual) does not come with the product. Always keep the manual where it is readily available.

Type and description of OPERATING MANUAL

Read these manuals rst

Series AC Power Input/DC Power Input

•Motor Edition (supplied with the motor)

•Driver Edition (supplied with the driver)

These manuals explain items from preparation to basic operations, etc.

This manual explains more detailed operations, functions, etc. that are not described in OPERATING MANUAL supplied with the product.

Series AC Power Input/DC Power Input

•Function Edition (this manual)

•The setting unit may vary depending on the application such as the Note that when you set the operation data and parameters. This manual use a setting unit "step" for explanation.

•This manual describes the contents of the driver Ver.4.00 and later. Note that some functions can not be used in a driver older than Ver.4.00. You can check the driver version on the unit information monitor of the

Series UL APPENDIX

•APPENDIX UL Standards for the AZ Series

* Attached to the UL Standard qualied product.

•Before starting operation

•Operation

•I/O signals

•Parameter

•Method of control via Modbus RTU (RS-485 communication)

•Method of control via industrial network

•Address list

•Measures for various cases

•Alarm and information

•Extended setting for pulse input operation

MEXE02.

This appendix includes information required for certication of the UL Standards.

MEXE02.

(

p.442)

Type and description of OPERATING MANUAL

Motorized actuator

•Actuator Edition (supplied with the actuator)

•Function Setting Edition

The Actuator Edition explains setting methods and maintenance for actuators.

The Function Setting Edition explains settings of parameters required for when an actuator is combined with a driver.

Network Converter

•USER MANUAL

About terms and units

Terms and units to be used vary depending on a motor or motorized actuator. This manual explains by using the terms of the motor. When the motorized actuator is used, read this manual by replacing the terms.

Ter m

Unit

Motor Motorized actuator

Torque Thrust force

Moment of inertia Mass

Rotation Movement

CW direction Forward direction

CCW direction Reverse direction

Rotation speed Speed

Resolution Minimum travel amount

N·m N

kHz/s m/s

This manual explains functions, installation/connection methods, operating methods and others about the network converter.

5 Expansion of supported contents

For drivers of the AZ Series, the rmware can be updated using the support software Download the latest

•Stop the motor before starting the update of rmware.

•Check on the Oriental Motor Website for the latest rmware version.

1. Click on [AZ driver rmware update] from the [Support] menu.

2. Click [OK].

3. Click [Yes]. Updating the rmware starts.

•Do not turn o the driver power until the update of rmware is completed.

•Once the update of rmware is executed, the version cannot be returned to the previous one.

•If the rmware has already been updated, the following dialog box is shown.

MEXE02

from Oriental Motor Website Download Page.

MEXE02

(ver.3.51 or later).

4. After it is completed, click [OK].

The rmware version can be checked with the unit information monitor.

Even if the rmware is updated, the settings for the operation data and parameters before updating have been retained.

Before starting operation

This chapter explains contents to be performed before starting operation.

1 Steps of preparation for operation .........................................................................20

2 Starting the

3 Copying the xed value (parameter) of the ABZO sensor to driver ........... 22

4 Creation of recovery data le and method of recovery .................................. 24

5 Setting of display unit and resolution ................................................................... 29

6 Home position setting ................................................................................................ 36

7 Wrap setting ................................................................................................................... 39

8 Setting of software limit ............................................................................................. 44

9 Operation check ............................................................................................................ 47

10 Backup of data ............................................................................................................... 50

MEXE02

................................................................................................. 21

Steps of preparation for operation

1 Steps of preparation for operation

1 Before starting operation

To prepare for operation, use the Since the procedure is dierent in motors and motorized actuators, perform the preparation for operation according to the product used.

 

Motor (standard type/geared type) Motorized actuator

Setting of display unit and resolution

p.29

Set the display unit and resolution with the "User unit

setting support wizard" of the

 

Home position setting



Wrap setting

Set the wrap function as necessary.

MEXE02

p.39

MEXE02

p.36

Starting the

MEXE02

Match the xed value of the ABZO sensor with the setting

p.21

Copying the xed value (parameter) of the ABZO sensor to driver _p.22

value of the driver parameter in the

Creation of recovery data le and method of

recovery _p.24

Save the information of the factory setting.

Perform before installing to equipment without fail.

MEXE02

 

Setting of software limit

If a sensor is not used, the setting of the software limit is recommended.

 

Operation check

Check the set operation with "Teaching, remote operation" of the

 

Backup of data

Back up the set data.

p.47

p.50

p.44

MEXE02

Starting the MEXE02

2 Starting the

1. Connect the PC on which the

1) Start the

2) Connect the driver and PC with a USB cable.

3) Turn on the power to the driver.

2. Set the communication port.

1) Click [Setting of the communication] from the [Communication] menu.

2) Select the "ORIENTAL MOTOR/Common virtual COM port", and click [OK].

3. Select the product.

1) Click the [New] icon in the toolbar.

2) Click [Search model] on the Select product window.

MEXE02

has been installed and a driver.

1 Before starting operation

3) Check the connected product is selected and click [OK].

For the pulse input type driver, if No.1 of the function setting switch (SW1) is set to ON (10,000 P/R), "Resolution 10,000 P/R" is selected in the "Motor/actuator" eld on the "Select product" window. If "Resolution 10,000 P/R" is selected, the setting by the user unit setting support wizard cannot be performed. When the resolution is set with the parameter, set the No.1 of the SW1 to OFF. The new settings of SW1 will become eective after the power is cycled.

After this, the procedure varies based on the product used. Refer to the corresponding page.

Customers who use the standard type and geared type motors _p.29



Customers who use motorized actuators _p.22



1 Before starting operation

Copying the xed value (parameter) of the ABZO sensor to driver

3 Copying the xed value (parameter) of

the ABZO sensor to driver

For parameters of the AZ Series, the dierent values are stored in the ABZO sensor and driver. The values based on the product specications such as recommended macro operation and position coordinate information are stored in the ABZO sensor. The values stored in the ABZO sensor cannot be changed because of the xed value. Meantime, the values for the standard type (motor only) are stored in the driver parameters.

In a state of the factory shipment, parameters stored in the ABZO sensor are used preferentially. However, if parameters are changed with the be changed to the values set in the driver parameters. Therefore, an unexpected movement may cause when an operation is executed. In order to prevent such troubles, copy the xed value in the ABZO sensor to the driver parameter, and match the setting value of the driver parameter and the xed value of the ABZO sensor.

After writing the parameter (example: electronic gear, etc.), which was changed to [Manual setting] and set, from the parameter that was changed with the manual setting does not return to the xed value.

MEXE02

or other methods, all parameters including the changed parameters will

to the driver, even if the xed value of the ABZO sensor is copied, the

Procedure

1. Click the [Communication] menu of the select the [Copy the ABZO (xed) information to the driver in a lump].

2. Click [Yes]. The ABZO information (xed value) is copied in the driver.

MEXE02

, and

3. After it is completed, click [OK].

4. Cycle the driver power.

5. Check whether the copied value is applied on the unit information monitor window.

Copying the xed value (parameter) of the ABZO sensor to driver

zUnit information monitor window

1 Before starting operation

zDescription of each item

Item Description

Active Parameter value presently used is shown.

Driver parameter Parameter value set in the driver using the

ABZO (xed)

The values of parameters stored in the ABZO sensor are shown. They cannot be changed because of the xed value.

MEXE02

or communication is shown.

1 Before starting operation

Creation of recovery data le and method of recovery

4 Creation of recovery data le and

method of recovery

4-1 Creating the recovery data le

The recovery data le is a le that information of the factory setting is stored. At the beginning, create the recovery data le for when the product is replaced with maintenance or the product is malfunctioned. Save the recovery data le in a PC as a data le.

•If you are the customer to use a motorized actuator, create the recovery data le without fail.

•Be sure to create the recovery data le before installing the motorized actuator to equipment.

Creating procedure for recovery data le

1. Start the Check the connected product is selected.

2. Copy the ABZO information (xed value).

1) Click [Copy the ABZO (xed) information

2) Click [Yes].

MEXE02

to the driver in a lump] from the [Communication] menu.

The ABZO information (xed value) is copied in the driver.

in the steps of "2 Starting the

MEXE02

" on p.21.

3) After it is completed, click [OK].

4) Cycle the driver power.

3. Read the ABZO information stored in the driver.

1) Click the [Data reading (Product → PC)] from the [Communication] menu or click the [Data reading (Product → PC)] icon in the toolbar.

2) Click [OK]. Data reading is started.

3) After it is completed, click [OK]. The read data is shown on the screen.

Creation of recovery data le and method of recovery

1 Before starting operation

4. Create the recovery data le. Click [Save as] from the [File] menu. A desired le name and storage destination can be used.

The factory setting of the motorized actuator is saved as the recovery data le.

For the recovery, create two les that are the recovery data le stored the factory setting and the nal backup le ( have been created in advance, the equipment can be restored smoothly.

p.50) applied the operation data and others. If the recovery data le and backup le

1 Before starting operation

Creation of recovery data le and method of recovery

4-2 Method of recovery

The recovery can be performed under the precondition of having created the recovery data le according to the "4-1 Creating the recovery data le" on p.24.

When the motor or driver was replaced, be sure to perform the recovery and the home position resetting. Unless the recovery and the home position resetting are performed, the followings may happen.

•The moving part may cause unexpected operations, resulting in injury or damage to equipment.

•The moving part of the motorized linear slide or motorized cylinder may collide with the mechanical stopper.

•A load may collide with other equipment.

•If "Search model" is performed with the identied as the AZ Series "Standard/geared motor."

•Refer to the OPERATING MANUAL Actuator Edition for how to replace the motor.

MEXE02

after the motor is replaced, the product is

When the motor and driver were malfunctioned

1. Replace the motor and driver, and turn on the power.

2. Open the recovery data le in the

1) Click the [Open] from the [File] menu or click the [Open] icon in the toolbar. Select the recovery data le, and click [Open].

3. Check the data is correct, and write to the driver in the following steps.

1) Click the [Data writing (PC → product)] from the [Communication] menu or click the [Data writing (PC → product)] icon in the toolbar.

2) Select the [All], and click [OK].

MEXE02

3) Click [Yes]. Writing data is started.

If the following message appears, click [Yes].

4) After it is completed, click [OK].

5) Cycle the driver power.

Creation of recovery data le and method of recovery

4. Read the information of the factory setting written to the driver. When the motor is replaced, set the home position again after reading the driver information. The communication function of the

1) Click the [Data reading (product → PC)] from the [Communication] menu or click the [Data reading (product → PC)] icon in the toolbar.

2) Click [OK]. Data reading is started.

If the following message appears, click [Yes].

MEXE02

cannot be used without reading the driver information.

1 Before starting operation

3) After it is completed, click [OK]. The read data is shown on the screen.

All data and parameters in the driver including the ABZO information were read in the

5. Refer to p.36 and set the home position again.

6. Refer to p.24 and create the recovery data le for the product after replacement.

Save the read driver information as the new recovery data le.

The details of the written parameters can be checked with the "unit information monitor."

When the driver was malfunctioned

1. Replace the driver, and turn on the power.

2. Open the recovery data le in the

1) Click the [Open] from the [File] menu or click the [Open] icon in the toolbar. Select the recovery data le, and click [Open].

3. Check the data is correct, and write to the driver in the following steps.

1) Click the [Data writing (PC → product)] from the [Communication] menu or click the [Data writing (PC → product)] icon in the toolbar.

MEXE02

1 Before starting operation

Creation of recovery data le and method of recovery

2) Select the [All], and click [OK].

3) Click [Yes]. Writing data is started.

4) Click [OK].

5) Cycle the driver power.

The details of the written parameters can be checked with the "unit information monitor."

When the motor was malfunctioned

1. Replace the motor, and turn on the power.

2. Read the driver information to the PC. When the motor is replaced, set the home position again after reading the driver information. The communication function of the

1) Click the [Data reading (product → PC)] from the [Communication] menu or click the [Data reading (product → PC)] icon in the toolbar.

2) Click [OK].

MEXE02

cannot be used without reading the driver information.

3) After it is completed, click [OK]. The read data is shown on the screen.

All data and parameters in the driver including the ABZO information were read in the

3. Refer to p.36 and set the home position again.

4. Refer to p.24 and create the recovery data le for the product after replacement.

Save the read driver information as the new recovery data le.

MEXE02

Setting of display unit and resolution

5 Setting of display unit and resolution

The display unit and resolution can be set using the "User unit setting support wizard" of the amount, speed and others can be displayed or input by a desired unit.

5-1 Setting example for when an index table is used

1. The display unit and resolution can be set using the "User unit setting support wizard."

1) Click [System of units customize wizard]. The window of the user unit setting support wizard is shown.

2) Click [Next].

3) Select the mechanism used. Select the [Table mechanism], and click [Next].

MEXE02

. The travel

1 Before starting operation

4) Set the mechanism information. When the "table" is selected, the setting of the mechanism information is not required. Click [Next].

1 Before starting operation

Setting of display unit and resolution

5) Set the speed reduction ratio of the gears. This is an example for when the geared motor of the gear ratio 10 is used. Set as shown in the gure, and click [Next].

When gears or pulleys are not used externally, select "Use the factory default settings of selected product," and click [Next].

6) Set the minimum step angle of the table. This example is set as "0.01°." Input "0.01", and click [Next].

*1 The set contents are shown.

Since the wrong setting is indicated in red color, set it again.

*2 If there is a wrong setting, the wrong

content and remedial actions are indicated.

When the wrap function (_ p.39) is used, set so that the resolution per revolution of the motor output shaft is an integral number.

7) Set the display unit. Select "deg" here, and click [Next].

The unit for when operating via network is "step."

Setting of display unit and resolution

8) Set the acceleration/deceleration unit. Select "s" here, and click [Finish].

If "s" is selected in the acceleration/deceleration unit, the initial value of the "Starting/changing rate" and "Stopping deceleration" is "1000 s." After the setting was complete, change the value according to the operating condition.

2. Since the parameters set in the driver is prioritized, set the mechanism settings parameter to "Manual setting."

1) Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

1 Before starting operation

2) Change the "Mechanism settings" parameter to "Manual setting."

3. Write the parameters to the driver.

1) Click the [Data writing (PC → product)] from the [Communication] menu or click the [Data writing (PC → product)] icon in the toolbar.

2) Select "All" in the data range, and click [OK].

3) Click [OK]. Writing parameters is started.

1 Before starting operation

Setting of display unit and resolution

4) Click [OK].

4. Cycle the driver power. Parameters are applied.

5-2 Setting example for when a linear mechanism is assembled

1. The display unit and resolution can be set using the "User unit setting support wizard."

1) Click [System of units customize wizard]. The window of the user unit setting support wizard is shown.

2) Click [Next].

3) Select the mechanism used. Select the [Linear motion mechanism], and click [Next].

4) Set the travel amount per a revolution. This example is set as "1 mm." Input "1," and click [Next].

5) Set the speed reduction ratio of the gears. The factory setting is used here. Select "Use the factory default settings of selected product," and click [Next].

6) Set the minimum step angle of the table. This example is set as "0.0005 mm." Input "0.0005", and click [Next].

*1 The set contents are shown.

Since the wrong setting is indicated in red color, set it again.

*2 If there is a wrong setting, the wrong

content and remedial actions are indicated.

Setting of display unit and resolution

1 Before starting operation

When the wrap function (_ p.39) is used, set so that the resolution per revolution of the motor output shaft is an integral number.

7) Set the display unit. Select "mm" here, and click [Next].

The unit for when operating via network is "step."

1 Before starting operation

Setting of display unit and resolution

8) Set the acceleration/deceleration unit. Select "s" here, and click [Finish].

2. Since the parameters set in the driver is prioritized, set the mechanism settings parameter to "Manual setting."

1) Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

2) Change the "Mechanism settings" parameter to "Manual setting."

3. Write the parameters to the driver.

1) Click the [Data writing (PC → product)] from the [Communication] menu or click the [Data writing (PC → product)] icon in the toolbar.

2) Select "All" in the data range, and click [OK].

3) Click [Yes]. Writing parameters is started.

4) Click [OK].

4. Cycle the driver power. Parameters are applied.

Setting of display unit and resolution

1 Before starting operation

Home position setting

6 Home position setting

The home position has not set at the time of shipment. Before starting an operation, be sure to set the home position. Perform the home position setting only once initially. Once the home position is set, the driver keeps the home information even if the power supply is shut down.

•Refer to the OPERATING MANUAL Driver for how to set the home position with the HOME PRESET switch.

•The home position is written to the non-volatile memory. The non-volatile memory can be rewritten approximately 100,000 times.

When a sensor is not used in return-to-home operation

1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar.

2. Click "Start the teaching remote operation."

3. Operate the motor till the home position using the JOG operation buttons. Adjust the position while checking the "Command position (CPOS)" in the "Driver status" eld.

* Use the FREE operation buttons to adjust

the home position manually. If the [FREE: ON] is clicked, the motor becomes a non-excitation state, and the motor output shaft can be rotated by an external force.

JOG operation buttons

Descriptions of JOG operation buttons

HOMESRV-LS FW-LS

Home position setting

Button

Assigned input signal

name

RV-JOG-H

RV-JOG

RV-JOG-P

STOP This is used to stop the motor immediately.

FW-JOG-P

FW-JOG

FW-JOG-H

If the JOG travel amount is changed, the "(HOME) Operating current for push motion homeseeking [%]" parameter is automatically changed to 100%. When the JOG travel amount is changed, set the "(HOME) Operating current for push motion homeseeking [%]" parameter to 70% or less.

When the operating condition is changed, set the "JOG/HOME/ZHOME operation setting" to "Manual setting."

This is used to perform continuous operation at the operating speed set in the "(JOG) Operating speed (high)" parameter

This is used to perform continuous operation at the operating speed set in the "(JOG) Operating speed" parameter

This is used to perform positioning operation in the travel amount set in the "minimum travel amount" of the JOG operation buttons.

This is used to perform continuous operation at the operating speed set in the "(JOG) Operating speed" parameter

This is used to perform continuous operation at the operating speed set in the "(JOG) Operating speed (high)" parameter

Relationship between the input signal and parameter

1 Before starting operation

4. Click [Position preset]. The home position is set.

When a sensor input is used in return-to-home operation

Input signals, which are used in return-to-home operation, are assigned with the according to external sensors used. This represents an example for when return-to-home operation is executed in the 3-sensor mode.

MEXE02

Input signals required in return-to-home operation

Input signal

name

HOMES Home sensor

FW-LS Limit sensors (+)

RV-LS Limit sensors (−)

HOME Signal to start return-to-home operation.

Description

. Assign the input signals

Home position setting

zBuilt-in controller type

Input signals (HOMES, FW-LS, RV-LS) from sensors and signals (M0, M1, START, STOP) related in positioning operation are assigned to direct I/O. And the alarm reset signal (ALM-RST) is remained. The HOME is assigned to both direct I/O and remote I/O so that return-to-home operation can be performed even in both of them.

Assignment example of direct I/O

Assignment example of remote I/O

1 Before starting operation

* In the case of 2-sensor mode, assign the "M2" or "ZHOME."

* In the case of 2-sensor mode, assign the "ZHOME."

•Assign the input signals according to external sensors used.

•When return-to-home operation is performed using remote I/O, assign the sensor input to direct I/O.

zPulse input type with RS-485 communication interface, pulse input type

Input signals (HOMES, FW-LS, RV-LS) from sensors and the alarm reset signal (ALM-RST) are assigned. And the HOME is assigned so that return-to-home operation can be performed.

* In the case of 2-sensor mode, assign the "ZHOME," "PLS-DIS," or others.

•Assign the input signals according to external sensors used.

•In the case of the pulse input type witn RS-485 communication interface and pulse input type, the DIN0 to DIN3 are exclusively used for pulse input. Since other signals cannot be assigned, set to "Not used."

7 Wrap setting

The wrap function is a function to automatically preset the position information of the present position when the number of revolutions of the motor output shaft exceeds the set range. Setting of wrap oset allows you to limit the operation area of the equipment and control the index table with coordinates on the positive and negative sides. (

p.42)

When the wrap function is not used

zSetting the wrap function

Disable the "Wrap setting" parameter. (Initial value: Eective)

1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

Wrap setting

1 Before starting operation

2. Set the "Initial coordinate generation/wrap coordinate setting" parameter to "Manual setting."

3. Set the "Wrap setting" parameter to "Disable."

When the wrap function is used

zSetting example: When the motor output shaft rotates 18 revolutions, the index table rotates one

revolution.

Set the parameters in the following steps.

Setting the wrap function



Setting the wrap range



Setting the oset ratio of the wrap range



Setting the oset amount of the wrap range



Writing the set parameters to the driver

Wrap setting

Related parameters

1 Before starting operation

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Motor and mechanism

tree view Parameter name Description

Wrap setting

Initial coordinate generation & wrap setting range

Initial coordinate generation & wrap range oset ratio

Initial coordinate generation & wrap range oset value

STEP 1 Set the wrap function

Set the "Wrap setting" parameter.

1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

Set the wrap function.

Setting range 0: Disable 1: Enable

Set the wrap range. The position information of the present position is automatically preset when the motor has rotated for the number of times set here.

Setting range Refer to the next table.

Set the oset ratio of the wrap range.

Setting range 0 to 10,000 (1=0.01%)

Set the amount of oset of the wrap range.

Setting range

−536,870,912 to 536,870,911 steps

Initial value

5,000

2. Set the "Wrap setting" parameter to "Eective."

STEP 2 Set the wrap range

Set the "Initial coordinate generation & wrap setting range" parameter. When the motor rotates the number of revolutions that was set, the position information of the present position is automatically preset. Set when unidirectional operation or proximity operation is performed using a rotating mechanism.

1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

2. Set the "Initial coordinate generation & wrap

1,800 *

Electronic gear A

The motors of frame size 20 (0.79 in.) and 28 (1.10 in.) are 900.

1,800

× 1,000 = 100,000

setting range" parameter. The internal coordinate of the ABZO sensor is 900 rev or 1,800 rev. This example is set to "18" so that the position information is preset when the motor output shaft rotates 18 revolutions.

Internal coordinate of the ABZO sensor

Wrap setting

Frame size [mm (in.)]

20 (0.79 in.), 28 (1.10 in.) 900 rev ±450 rev (oset ratio 50%)

40 (1.57 in.), 42 (1.65 in.), 60 (2.36 in.), 85 (3.35 in.),

90 (3.54 in.)

Select a value from the table below, and set in the "Initial coordinate generation & wrap setting range" parameter.

Internal coordinate of the

ABZO sensor

1,800 rev ±900 rev (oset ratio 50%)

Initial value

Value that can be set in the "Initial coordinate generation & wrap setting range" parameter

In the table below, the values which are surrounded with thick box border cannot be set in 900 rev.

Wrap setting range [rev]

0.5 1.8 4.8 12.0 25.0 72.0 200.0

0.6 2.0 5.0 12.5 30.0 75.0 225.0

0.8 2.4 6.0 14.4 36.0 90.0 300.0

0.9 2.5 7.2 15.0 37.5 100.0 360.0

1.0 3.0 7.5 18.0 40.0 112.5 450.0

1.2 3.6 8.0 20.0 45.0 120.0 600.0

1.5 4.0 9.0 22.5 50.0 150.0 900.0

1.6 4.5 10.0 24.0 60.0 180.0 1,800.0

1 Before starting operation

Setting condition of the "Initial coordinate generation & wrap setting range" parameter

When the wrap range meets the following condition, continuous rotation in the same direction becomes possible with the home position maintained.

ondition (1)

ondition (2)

Wrap setting range

Wrap setting range × Resolution = Wrap setting range ×× 1,000 = An integer

= An integer

Electronic gear B

zSetting example 1

•Internal coordinate of the ABZO sensor: 1,800 rev

•Wrap setting range: 100 rev

•Resolution: 1,000 P/R (Electronic gear A=1, Electronic gear B=1)

•Motor: Standard motor (gear ratio 1)

ondition (1)

ondition (2)

Both Condition (1) and (2) are integers and this meets the setting condition. Wrap is possible.

Wrap setting range

Wrap setting range ×× 1,000 = 100 ×

== 18

100

Electronic gear B Electronic gear A

Wrap setting

1,800

×× 1,000 = 4,800

4.5

zSetting example 2

•Internal coordinate of the ABZO sensor: 1,800 rev

•Wrap setting range: 14.4 rev

•Resolution: 333.333··· P/R (Electronic gear A=1, Electronic gear B=1)

•Motor: TH geared motor (gear ratio 3.6)

1 Before starting operation

ondition (1)

ondition (2)

Both Condition (1) and (2) are integers and this meets the setting condition. Wrap is possible.

Wrap setting range

== 125

14.4

Electronic gear B

Electronic gear A

STEP 3 Set the oset ratio of the wrap range

Set the "Initial coordinate generation & wrap range oset ratio" parameter. The wrap range can be oset in the negative direction by the set ratio.

1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

2. Set the "Initial coordinate generation & wrap range oset ratio" parameter. Here, 18 revolutions is divided into 50% each in positive side and negative side so that the index table can be rotated in both directions.

× 1,000 = 14.4 ×

When the "wrap setting range" is 18 rev and the wrap oset ratio is 50%

4.5 94.5

If the "Wrap setting" parameter or "Initial coordinate generation & wrap setting range" parameter is changed, the absolute position may be moved. When the parameter is changed, perform high-speed return-to-home operation or return-to-home operation.

4.5

STEP 4 Set the amount of oset of the wrap range

After setting the oset ratio of the wrap range, use when adjusting the home position in increments of a step.

1. Click “Motor and mechanism (coordinates/ JOG/home operation)” under “Parameter” in the tree view. The motor and mechanism parameter is shown.

2. Set the "Initial coordinate generation & wrap range oset value" parameter. Set "0" if the setting is not required.

STEP 5 Write the set parameters to the driver

Wrap setting

1 Before starting operation

1. Click the [Data writing (PC → product)] from the [Communication] menu or click the [Data writing (PC → product)] icon in the toolbar.

2. Select "All" in the data range, and click [OK].

3. Click [Yes]. Writing parameters is started.

4. Click [OK].

5. Cycle the driver power. Parameters are applied.

If information or alarm of the wrap setting error is generated, the wrap setting condition may not be satised. Review the setting of the "User unit setting support wizard" or parameters.

1 Before starting operation

10,000

Setting of software limit

8 Setting of software limit

When no sensor is used, the setting of the software limit is recommended. Set the software limits of the positive and negative sides as well as the stopping method for when the software limit is detected.

Setting the motor stopping method

Set the stopping method for when the motor reached the software limit.

1. Click the “Base settings” under “Parameter” in the tree view. The base setting parameters are shown.

2. Set the motor stopping method in the "Software overtravel" parameter.

When the "Deceleration stop" is selected, take account the distance till the motor stops after starting deceleration. If the load may contact with the mechanism during deceleration, change the setting to "Immediate stop" or shorten the brake deceleration in the operation data.

Setting of software limit

Set the software limits in the positive side (forward direction) and negative side (reverse direction).

The set values are saved in the non-volatile memory. The non-volatile memory can be rewritten approximately 100,000 times.

1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar.

2. Click "Start the teaching remote operation."

3. Set the software limits of the positive and negative sides in the following steps. This explains as an example for when the moving range is set as shown in the gure.

Negative side

Positive sid

1) Using the JOG operation buttons, operate the motor to the moving range 10,000 of the positive side. Adjust the position while checking the "Command position (CPOS)" in the "Driver status" eld.

Setting of software limit

JOG operation buttons

2) Click the [Preset (CPOS+1)] button in the "Positive software limit" eld.

1 Before starting operation

3) Click [Yes]. The value that was added 1 to the present command position is set in the software limit.

4) Operate the motor to the moving range −10,000 of the negative side using the same method as 1).



1 Before starting operation

Setting of software limit

5) Click the [Preset (CPOS−1)] button in the "Negative software limit" eld.

6) Click [Yes]. The value that was added −1 to the present command position is set in the software limit.



9 Operation check

Perform an operation check for the items set before this section.

Before operating the motor, check the condition of the surrounding area to ensure safety.

Steps for checking

Operation check for return-to-home operation _ p.47



Operation check

1 Before starting operation

Operation check for software limit

p.48

STEP 1 Check the operating status of return-to-home operation

When no sensor is used

1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar.

2. Click "Start the teaching remote operation."

3. Execute the following high-speed return-to-home operation, and check the command position (CPOS) is being "0."

1) Click "ZHOME operation."

2) Click [Yes]. High-speed return-to-home operation is started.

3) After the motor stopped, check the command position (CPOS) is being "0."

If information of ZHOME start error is generated, check the setting of the home position. (_p.36)

1 Before starting operation

Operation check

When sensors are used

1. Click the [Teaching, remote operation] shortcut

2. Click "Start the teaching remote operation."

3. Execute the following return-to-home operation, and check the command position (CPOS) is being "0."

1) Click "Home operation."

2) Click [Yes].

3) After the motor stopped, check the command

button or click the [Teaching, remote operation] icon in the toolbar.

Return-to-home operation is started.

position (CPOS) is being "0."

When return-to-home operation is executed using the input signal, turn the HOME ON.

STEP 2 Check the operation of the software limit

Operate till the software limit with JOG operation, and check an alarm is generated.

Setting of related parameters

Set the parameters related in JOG operation so that the load may not contact with the mechanism when JOG operation is performed.

MEXE02

Motor and mechanism

tree view Parameter name Key point for setting

JOG/HOME/ZHOME operation setting

JOG/HOME/ZHOME operating current

(JOG) Acceleration/deceleration rate

(JOG) Operating speed

(JOG) Operating speed (high)

Base settings Software overtravel The stopping method set in p.44 is applied.

If the related parameter is changed, set to "Manual setting."

If you want to suppress the torque, set the lower current.

The acceleration/deceleration time and rotation amount vary depending on the setting unit. Set according to the unit.

Set according to the equipment you have used.(JOG) Starting speed

Operation check

1. Click the [Teaching, remote operation] shortcut button or click the [Teaching, remote operation] icon in the toolbar.

2. Click "Start the teaching remote operation."

3. Operate the motor using the JOG operation buttons.

Operation check

JOG operation buttons

4. If the set software limit is detected, an alarm is generated. "67: Software overtravel" is shown on the "Alarm condition" in the "Driver status" eld.

5. Click the [Alarm reset] button to release the alarm status. After releasing the alarm, escape from the software limit using the [ZHOME operation] button or JOG operation buttons.

1 Before starting operation

Backup of data

10 Backup of data

1 Before starting operation

There are the following two methods to backup the contents set in the

MEXE02

zCreate to save the data le

The data edited in the Data les can be saved in the Data les saved in the saved in the CSV format can be edited in applications other than the

MEXE02

or the data read from the driver can be saved as a le.

MEXE02

format and

format (.mx2),

MEXE02

extended format cannot be opened in other applications. Data

extended format (.mx2a), or CSV format (.csv).

MEXE02

zSave in the backup area of the driver

The data opened in the The data stored by the backup function can be read using the restore function. Refer to p.441 for details.

MEXE02

can be saved in the backup area of the driver.

Operation

This part explains the operation functions and parameters.

1 Flow of setting required for positioning operation ......................................... 52

2 Setting of resolution .................................................................................................... 53

3 Stored data (SD) operation .......................................................................................55

4 Return-to-home operation .....................................................................................105

5 Macro operation .........................................................................................................121

6 Relationship between operation type and

operation data and parameter ..............................................................................136

7 Position coordinate management ........................................................................140

Flow of setting required for positioning operation

•

operation, etc., the motor is operated

1 Flow of setting required for positioning

operation

2 Operation

OPERATING

MANUAL

Driver

Part Three

Part Four

Part Nine

The contents of are explained in this manual.

• Install the motor and the

Inst

driver and arrange wiring.

riv

• Set the home position.

Set

Assign I/O.

ssi

Set the coordinate and

the resolution.

Select the operation

method and set data.

Set parameters.

Set

Make settings concerning

Ma information and alarms.

nfo

Assignment of I/O, Input and output conditions, output of the current value, functions to help saving of wiring, etc. are introduced.

The method to generate the coordinate of the driver according to your system and the wrap function are introduced. In addition, if an electronic gear is used, the resolution can be set.

Stored data operation

+ Sequence function

Macro operation

High-speed return-to-home

Return-to-home operation

The motor is operated by setting the operation data.

Simple sequence functions such as

jump and loop can be also executed.

In JOG operation, continuous

by inputting a specic signal.

The motor is returned to the home position.

p.140

p.53

Completion of setting

2 Setting of resolution

Resolution (P/R) = 1,000

Electronic gear B Electronic gear A

Set the resolution for combined use with the mechanism such as the geared motor and actuator. When the "Electronic gear A" and "Electronic gear B" parameters are set, the resolution per revolution of the motor output shaft can be set. Note that the calculated value must fall within the setting range specied below:

Resolution setting range: 100 to 10,000 P/R (initial value: 1,000 P/R)

Setting of resolution

Related parameters

MEXE02

Motor and mechanism

tree view Parameter name Description

•When the "Mechanism settings" parameter is changed, cycle the power of the driver.

•If the value out of the setting range is set, the information of electronic gear setting error is generated. If the power is cycled or conguration is executed while the information of electronic gear setting error is present, an alarm of electronic gear setting error is generated.

•If the resolution was changed after executing preset with the "Preset position" parameter other than "0," execute preset again. When the "Preset position" parameter is "0," the present position is recalculated automatically even if the resolution is changed.

Mechanism settings

Electronic gear A

Electronic gear B

To change the resolution, select manual setting.

Setting range 0: ABZO setting is prioritized 1: Manual setting

Sets the denominator of electronic gear.

Setting range 1 to 65,535

Sets the numerator of electronic gear.

Setting range 1 to 65,535

Initial value

2 Operation

•The initial value of resolution may vary depending on the product connected.

•If you use the pulse-input type, refer to p.487. (

p.487)

Setting of resolution

Mechanical resolution = 1000

Electronic gear B

Lead of ball screw

In this e

Electronic gear A

Mechanical resolution = 1000

Electronic gear B

Travel amount per revolution

In this e

Electronic gear A

Calculation of electronic gears A and B

Calculation of electronic gears A and B is explained with examples of a ball screw and rotary table.

zCalculation example 1: Ball screw

•When a ball screw with a lead of 12 mm should be moved 0.01 mm per step.

•Gear ratio: 1 (No speed reduction mechanism between the motor and ball screw)

2 Operation

Electronic gear A

Electronic gear B

xample,

herefore,

Therefore, electronic gear A is 10 and electronic gear B is 12, and the resolution is 1,200 P/R.

1000 ×

Electronic gear A

Electronic gear B

Minimum travel amount

12 mm

0.01 mm

Gear ratio

zCalculation example 2: Rotary table

•When a rotary table that moves by 360° per revolution should be moved by 0.01° per step.

•Gear ratio: 10 (a geared motor with a gear ratio of 10 is used)

Electronic gear A

xample

herefore,

Therefore, electronic gear A is 10 and electronic gear B is 36, and the resolution is 3600 P/R.

1000 ×

Electronic gear B Electronic gear A

Electronic gear B

Minimum travel amount

360°

0.01°

Gear ratio

Resolution for the A-phase (ASG) output and B-phase (BSG) output

The A-phase output and B-phase output are pulse signals output from the ABZO sensor. Since pulses are output from the A-phase and B-phase outputs in response to the motor operation, the motor position can be monitored by counting the number of pulses. The resolution for the A-phase output and B-phase output is the same as the motor resolution at power-on. If the motor resolution is changed, the resolution for the A-phase and B-phase outputs is also changed.

3 Stored data (SD) operation

Stored data operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data.

* Be sure to set the home position before starting an operation.

3-1 Types of stored data (SD) operation

Operation types

Stored data (SD) operation

Speed

START input

Positioning SD operation

• Absolute positioning

• Incremental positioning (based on command position)

• Incremental positioning (based on feedback position)

• Wrap absolute positioning

• Wrap proximity positioning

• Wrap forward direction absolute positioning

• Wrap reverse direction absolute positioning

Linked method

Speed

Time

START input

Time

Positioning push-motion SD operation

Speed

• Absolute positioning push-motion

• Incremental positioning push-motion (based on command position)

• Incremental positioning push-motion (based on feedback position)

• Wrap absolute push-motion

• Wrap proximity push-motion

• Wrap forward direction push-motion

• Wrap reverse direction push-motion

Speed

Time

START input

Continuous SD operation

• Continuous operation (Position control)

• Continuous operation (Speed control)

• Continuous operation (Push-motion)

• Continuous operation (Torque control)

Speed

2 Operation

START input

Time

No link

(single-motion operation)

Extended linked method

Speed

START input

Loop operation

SSTART input

Manual sequential

operation

Time

START input

Time

START input

Automatic sequential

operation

Speed

Position0

START input

Event trigger input

Without trigger

With trigger

Type connection

operation

Position0

Time

Event jump operation

2 Operation

Stored data (SD) operation

Operation types

Operation types Description

Positioning stored data (SD) operation

How to set target position Operation mode Description

Absolute positioning Absolute positioning

Incremental positioning

Wrap absolute positioning

Positioning push-motion stored data (SD) operation

How to set target position Operation mode Description

Absolute positioning

Incremental positioning

Wrap absolute positioning

By setting the motor operating speed, position (travel amount) and other items as operation data, trapezoidal operation is performed from the present position to the target position. The motor is started at the starting speed and accelerates until the operating speed is reached. Once the operating speed is reached, that speed is maintained. Then the motor decelerates when the stopping position approaches, and nally comes to a stop.

Positioning operation is performed from the present position to the set target position.

Incremental positioning (based on command position)

Incremental positioning (based on feedback position)

Wrap absolute positioning

Wrap proximity positioning

Wrap forward direction absolute positioning

Wrap reverse direction absolute positioning

By setting the motor operating speed, position (travel amount) and other items as operation data, rectangular operation (drive without acceleration/deceleration time) is performed from the present position to the target position. If you use the TLC output as a completion signal of push-motion operation, you can judge whether or not pushmotion against the load occurred during operation.

Absolute positioning pushmotion

Incremental positioning pushmotion (based on command position)

Incremental positioning pushmotion (based on feedback position)

Wrap absolute push-motion

Wrap proximity push-motion

Wrap forward direction pushmotion

Wrap reverse direction pushmotion

Positioning operation of the set travel amount is performed from the present command position.

Positioning operation of the set travel amount is performed from the present feedback position.

Positioning operation is performed to the target position within the wrap range.

Positioning operation in the shortest distance is performed to the target position within the wrap range.

Positioning operation in the forward direction is performed to the target position within the wrap range.

Positioning operation in the reverse direction is performed to the target position within the wrap range.

Positioning push-motion operation is performed from the present position to the set target position.

Positioning push-motion operation of the set travel amount is performed from the present command position.

Positioning push-motion operation of the set travel amount is performed from the present feedback position.

Positioning push-motion operation is performed to the target position within the wrap range.

Positioning push-motion operation in the shortest distance is performed to the target position within the wrap range.

Positioning push-motion operation in the forward direction is performed to the target position within the wrap range.

Positioning push-motion operation in the reverse direction is performed to the target position within the wrap range.

Operation types Description

Continuous stored data (SD) operation

Operation is continued with the set operating speed.

Operation mode Description

The motor is started running at the starting speed and Continuous operation (Position control)

Continuous operation (Speed control)

Continuous operation (Push-motion)

Continuous operation (Torque control)

accelerates until the operating speed is reached. When the

operating speed is reached, operation is continued with the

speed maintained while monitoring the position deviation.

The motor is started running at the starting speed and

accelerates until the operating speed is reached. When the

operating speed is reached, operation is continued with the

speed maintained.

The motor is started running at the starting speed and

accelerates until the operating speed is reached. When the

operating speed is reached, operation is continued with the

speed maintained. When a mechanism installed to the motor

presses against a load, pressure is continuously applied to the

load.

Rectangular operation (drive without acceleration/

deceleration time) of the motor is executed at the operating

speed, and operation is continued with the speed maintained.

When a mechanism installed to the motor presses against a

load, pressure is continuously applied to the load.

Stored data (SD) operation

2 Operation

Stored data (SD) operation

Present

Target

Present

Target

Home position

500

tual travel amount=300

How to set target position

There are three methods to set the target position as shown below.

zAbsolute positioning

Set the target position on coordinates with the home position as a reference.

Example: Setting to move from the present position "100" to the target position "400"

2 Operation

Home

position

100

200 300

position

400

500

Setting=400

Actual travel amount=300

zIncremental positioning

Set the target position by using the position to which the motor has moved as a start point of the next movement. It is suitable for operation in which the same travel amount is repeatedly used.

Example: Setting to move from the present position "100" to the target position "400"

Home

position

100

200 300

position

400

500

Setting=300

Actual travel amount=300

zWrap absolute positioning

Set the "Wrap setting" parameter to "Enable" to use. Set the target position within the wrap range.

Example: Setting to move from the present position "100" to the target position "400"

Present position

100

• Setting=400

• Ac

250

Target position

400

250

3-2 Setting of data

There are three types of settings concerning stored data operation as shown below.

zOperation data

The operation type, target position, operating speed, acceleration/deceleration rate, operating current, etc. required for stored data operation are set.

zOperation I/O event

The condition to generate an event required for the event jump function, the next data and linked method of the operation when an event is generated are set. Utilize this setting when you use the event jump function.

zExtended operation data setting

The loop start position, loop end position, number of times of loop required for the extended loop function are set. Utilize this setting to execute loop operation with number of times that cannot be set in operation data (256 or more).

Operation data

The following operation data are required for the stored data operation. Up to 256 operation data pieces (No.0 to 255) can be set.

Stored data (SD) operation

2 Operation

MEXE02

Operation data

tree view Item Description Initial value

Type

Position

Operating speed

Starting/changing rate

Selects the operation type.

Setting range 1: Absolute positioning 2: Incremental positioning (based on command position) 3: Incremental positioning (based on feedback position) 7: Continuous operation (Position control) 8: Wrap absolute positioning 9: Wrap proximity positioning 10: Wrap forward direcion absolute positioning 11: Wrap reverse direction absolute positioning 12: Wrap absolute push-motion 13: Wrap proximity push-motion 14: Wrap forward direcion push-motion 15: Wrap reverse direction push-motion 16: Continuous operation (Speed control) 17: Continuous operation (Push-motion) 18: Continuous operation (Torque control) 20: Absolute positioning push-motion 21: Incremental positioning push-motion (based on command position) 22: Incremental positioning push-motion (based on feedback position)

Sets the target position (travel amount). It is not used for continuous SD operation.

Setting range

−2,147,483,648 to 2,147,483,647 steps

Sets the operating speed. Positioning operation and push-motion operation are performed at an absolute operating speed. For continuous operation, when a positive value is set, the motor rotates in the forward direction. When a negative value is set, it rotates in the reverse direction.

Setting range

−4,000,000 to 4,000,000 Hz

Sets the acceleration/deceleration rate (acceleration/ deceleration time) for start and change of the speed.

Setting range 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz)

1,000

1,000,000

Stored data (SD) operation

2 Operation

MEXE02

Operation data

tree view Item Description Initial value

Stopping deceleration

Operating current

Drive-complete delay time

Link

Next data No.

Area oset

Area width

Loop count

Loop oset

Loop end No.

(Low) I/O event No.

Sets the deceleration rate (deceleration time) for stop.

Setting range 1 to 1,000,000,000 (1=0.001 kHz/s, 1=0.001 s, or 1=0.001 ms/kHz)

Sets the motor operating current based on the base current being 100%. It is a push-motion current when push-motion operation is performed.

Setting range 0 to 1,000 (1=0.1%)

Sets the waiting time generated after operation is completed.

Setting range 0 to 65,535 (1=0.001 s)

Sets the mode for link operation.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

Sets the distance from the center position of the range in which the MAREA output is turned ON to the target position of the positioning operation. Sets the distance to the operation start position in the case of continuous operation.

Setting range

−2,147,483,648 to 2,147,483,647 steps

Sets the range in which the MAREA output is turned ON.

Setting range

−1: Disable 0 to 4,194,303 steps

Sets the number of times of loop.

Setting range 0: −(No loop) 2 to 255: loop 2{to loop 255{ (number of times of loop)

Osets the position (travel amount) every time loop is executed.

Setting range

−4,194,304 to 4,194,303 steps

Sets to the operation data number in which loop is completed.

Setting range 0: −(not the loop end point) 1: }L-End (loop end point)

Sets the number of the operation I/O event to generate a low event. The condition to generate the event is set in Operation I/O event.

Setting range

−1:−(Disable) 0 to 31: Operation I/O event number

1,000,000

1,000

−1

Stored data (SD) operation

• Continuous operation• Positioning operation

READ

OFF

ime

OFF

Time

Operating speed

Time

• When operating speed ≤ starting speed• When starting speed < operating speed

100%

[Torque]

teristics when the torque value of the

push-motion operation is limited to 50%

MEXE02

Operation data (High) I/O event No.

tree view Item Description Initial value

zPosition, Speed, Starting/changing rate, Stopping deceleration, Operating current, Drive-complete

delay time

Sets the target position, operating speed, acceleration/deceleration rate (acceleration/deceleration time), and operating current required for stored data operation.

Speed

Operating speed

Starting speed

Current

Operating current

Stop current

Y output

Sets the number of the operation I/O event to generate a high event. If a low event and a high event are generated at the same time, the high event is prioritized. The condition to generate the event is set in Operation I/O event.

Setting range

−1:−(Disable) 0 to 31: Operation I/O event No.

Position (travel amount)

Stop Starting/ changing speed

Drive-complete delay time

Time0

Time

Speed

Operating speed

Starting speed

Current

Operating current

Stop current

READY output

−1

2 Operation

Starting/ changing speed

Speed

Starting speed

For torque limiting in push-motion operation, set with "Operating current" in operation data. Set with the maximum holding torque as 100%. Example) If you want to limit the torque value to 50%, set the operating current to 50%.

Position (travel amount)

Starting/ changing speed

Stop

Operating speed

Starting speed

Speed

75%

50%

25%

Torque charac

Position (travel amount)

[Operating current]

75%

50%

25%

[Rotation speed]

Stored data (SD) operation

OFF

osition

MAREA output

OFF

• Positioning operation• Positioning operation

zLink, Next data No.

•No Link Executes operation once with one operation data number. (Single-motion operation)

•Manual sequential Executes operation of the operation data number set in "Next data No." every time the SSTART input is input. The SSTART input is enabled when the READY output is turned ON.

•Automatic sequential Starts operation of the operation data number set in "Next data No." automatically after stop for the time set in "Drive-complete delay time."

•Continuous form connection Executes operation of the operation data number set in "Next data No." continuously without stopping the motor.

zArea oset, Area width

You can set the range of the MAREA output for each operation data by setting Area oset and Area width.

When the operation direction is forward direction

2 Operation

Speed

Operating speed

Starting speed

Operating speed

Time P

Area oset Area oset

Target position

WidthWidth

Starting speed

MAREA output

Speed

Target position

WidthWidth

zLoop count, Loop oset, Loop end No.

When you set Loop count, Loop oset, Loop end No., the loop function is enabled. (

"Loop function" on p.93)

z(Low) I/O event No., (High) I/O event No.

When you set (Low) I/O event No. and (High) I/O event No., the event jump function is enabled. If a low event and a high event are generated at the same time, the high event is prioritized. (

"Event jump function" on p.95)

Stored data (SD) operation

Operation I/O event

Operation I/O event is required for setting of (Low) I/O event No. and (High) I/O event No. of Operation data.

MEXE02

Operation I/O event

tree view Item Description

Link

Next data No.

Dwell

Event trigger I/O

Event trigger type

Event trigger count

Sets the linked method after event trigger detection.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

Sets the waiting time generated after event trigger detection.

Setting range 0 to 65535 (1=0.001 s)

Sets I/O to be used as an event trigger.

Setting range "1 Overview of I/O signals" on p.158

Sets the timing to detect the event trigger.

Setting range 0: Non (Disable) 1: ON (calculated cumulative msec) 2: ON (msec) 3: OFF (calculated cumulative msec) 4: OFF (msec) 5: ON edge 6: OFF edge 7: ON (cumulative msec) 8: OFF (cumulative msec)

Sets the judgment time or number of times of detection to detect the event trigger.

Setting range 0 to 65535 (1=1 msec or 1=Once)

Initial value

−256

2 Operation

0: Not

used

zLink, Next data No.

Set the linked method and next data when the event trigger is detected. There are four types of link as shown below.

•No link Ignores the event.

•Manual sequential Decelerates and stops the present operation. After that, when the time set in "Dwell" has passed, the READY output is turned ON. Operation of the operation data number set in "Next data No." is started when the SSTART input is turned ON.

•Automatic sequential Decelerates and stops the present operation. After that, when the time set in "Dwell" has passed, operation of the operation data number set in "Next data No." is automatically started.

•Continuous form connection Starts operation of the operation data number set in "Next data No." without stopping the operation.

2 Operation

Stored data (SD) operation

Selection of operation data number

There are three methods to select the operation data number to be started as shown below.

•Selection by NET selection number

•Direct selection (D-SEL0 to D-SEL7)

•Selection using the M0 to M7 inputs

The order of the priority is: NET selection number, direct selection , M0 to M7 inputs.

zNET selection number

The NET selection number is used to set the operation data number via the remote I/O. If an operation data number other than 0 to 255 is set, the NET selection number is disabled, and direct selection or selection using the M0 to M7 inputs is enabled.

zDirect selection

The direct selection is a method in which the operation data number is set with the parameter and the operation data number is selected by D-SEL0 to D-SEL7 input. If all the D-SLE0 to D-SEL7 inputs are turned OFF or more than one input are turned ON, the direct selection is disabled, and selection using the M0 to M7 inputs is enabled.

Related parameters

MEXE02

I/O action and function

tree view Parameter name Description

D-SEL drive start function

D-SEL0 operation number selection

D-SEL1 operation number selection

D-SEL2 operation number selection

D-SEL3 operation number selection

D-SEL4 operation number selection

D-SEL5 operation number selection

D-SEL6 operation number selection

D-SEL7 operation number selection

Sets how to start the motor when the D-SEL input has been turned ON.

Setting range 0: Only operation data number selection 1: Operation data number selection+START function

Sets the operation data number that is started when each D-SEL input is turned ON.

Setting range 0 to 255: Operation data number

Initial value

zSelection using the M0 to M7 inputs

This is a method in which the operation data number is selected by combining ON/OFF of the M0 to M7 inputs.

Operation data

number

0 OFF OFF OFF OFF OFF OFF OFF OFF

1 OFF OFF OFF OFF OFF OFF OFF ON

2 OFF OFF OFF OFF OFF OFF ON OFF

•

253 ON ON ON ON ON ON OFF ON

254 ON ON ON ON ON ON ON OFF

255 ON ON ON ON ON ON ON ON

M7 M6 M5 M4 M3 M2 M1 M0

•

Timing charts

2 ms or more2 ms or more

Internal speed command

2 ms or more2 ms or more

Internal speed command

zPositioning operation

Stored data (SD) operation

START input

M0 to M7 input

OFF

2 ms or less

READY output

MOVE output

IN-POS output

OFF

2 ms or less

2 Operation

zContinuous operation

START input

M0 to M7 input

READY output

MOVE output

IN-POS output

OFF

2 ms or less

OFF

2 ms or less

OFF

Stored data (SD) operation

Position

Operating speed

Time

Travel amount

Operating speed

Time

3-3 Positioning SD operation

Positioning SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning SD operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. Once the operating speed is reached, that speed is maintained. Then the motor decelerates when the target position approaches, and nally comes to a stop.

zOperation

When start position < target position (operation in forward direction)

2 Operation

Speed

Starting speed

position

Travel amount

Target

position

Operating speed

Starting speed

PositionStarting

Operating current

Speed

Current

Stop current

When start position > target position (operation in reverse direction)

Speed

Starting speed

Target

position

Starting position

Position

Starting speed

Operating speed

Operating current

Speed

Current

Stop current

Starting position

Starting/ changing speed

(travel amount)

Stop

Starting/ changing speed

Stop

Position

(travel amount)

Drive-complet delay time

Time0

Target

position

Time

Drive-complet delay time

The travel amount of positioning SD operation is +2,147,483,647 steps. When the travel amount of the motor exceeds the maximum travel amount of the upper limit or lower limit, an alarm of operation data error is generated.

•The rotation direction (forward/reverse) of positioning SD operation depends on the setting of "Position" of operation data. When a positive value is set, the motor rotates in the forward direction. When a negative value is set, it rotates in the reverse direction.

•When a negative value is set to "Operating speed" of operation data, it is considered to be a speed of absolute value.

Stored data (SD) operation

Speed

Time

START

2 4

Absolute positioning

Sets the target position on coordinates with the home position as a reference.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600

Setting of operation data

Operation image

2,000

500

100 8,600

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

START input

READY output

OFF

2,000

1.5

500

Position

1.5

2 Operation

ternal speed command

Stored data (SD) operation

Speed

Time

2 4

Incremental positioning (based on command position)

Sets the travel amount from the present command position to the target position.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600

Setting of operation data

Operation image

2 Operation

2,000

500

100 8,600

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

START input

READY output

OFF

2,000

1.5

500

Position

START

1.5

ternal speed command

Stored data (SD) operation

Speed

Time

2 4

Incremental positioning (based on feedback position)

Sets the travel amount from the present feedback position to the target position.

zUsage example

When the motor is operated from the feedback position 100 to the target position 8,600

Setting of operation data

Operation image

2,000

500

100 8,600

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

START input

READY output

OFF

2,000

1.5

500

Position

START

1.5

2 Operation

ternal speed command

The reference position of the operation based on the feedback position varies depending on the load. It is a convenient method to start the next operation from a status in which the command position and the feedback position are dierent as in the case of positioning push-motion SD operation.

Stored data (SD) operation

4,500

9,000

Speed

2 4

Wrap absolute positioning

Sets the target position within the wrap range to the operation data.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap oset ratio 50%)

Setting of wrap function

For the details of the wrap function, refer to "Wrap function" on p.147.

2 Operation

Setting of operation data

Position coordinate image

100

4,500

8,600

Operation image

2,000

1.5

500

START

1.5

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

ternal speed command

START input

READY output

OFF

Stored data (SD) operation

9,000

Speed

ime

2 4

Wrap proximity positioning

Sets the target position within the wrap range. Positioning SD operation is executed in the rotation direction near to the target position.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap oset ratio 50%)

Setting of wrap function

Setting of operation data

2 Operation

Position coordinate image

100

4,500

8,600

4,50

Operation image

2,000

1.5

500

ART

1.5

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

ternal speed command

START input

READY output

OFF

Stored data (SD) operation

4,500

9,000

Speed

2 4

Wrap forward direction absolute positioning

Sets the target position within the wrap range to the operation data. Positioning SD operation is always executed in the forward direction regardless of the target position.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap oset ratio 50%)

Setting of wrap function

2 Operation

Setting of operation data

Position coordinate image

100

4,500

8,600

Operation image

2,000

1.5

500

START

1.5

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

ternal speed command

START input

READY output

OFF

Stored data (SD) operation

4,500

9,000

Speed

2 4

Wrap reverse direction absolute positioning

Sets the target position within the wrap range. Positioning SD operation is always executed in the reverse direction regardless of the target position.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600 (Wrap setting range 18 rev, wrap oset ratio 50%)

Setting of wrap function

Setting of operation data

Position coordinate image

100

4,500

8,600

Operation image

500

2,000

START

1.5

2 Operation

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON.

3. The READY output is turned OFF, and the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

M0 to M7 input

ternal speed command

START input

READY output

OFF

Stored data (SD) operation

zOrbit comparison of positioning SD operation

The wrap setting range should be 1 rev, and the wrap oset ratio should be 50%. (_"Wrap function" on p.147)

Operation mode

Initial value → Value set to "Position" of operation data

250 → 900 250 →

1,400

2 Operation

• Absolute positioning

* Sets the coordinate of the target

position from the home position

• Incremental positioning (based on command position)

• Incremental positioning (based on feedback position)

* Sets the travel amount from the

command position or the feedback position to the target position.

• Wrap absolute positioning

* Sets the target position on coordinates

with the home position as a reference. Operation is performed within the wrap range.

100

250 250

100

250 250

500

150

250 250

400

150

250 250

400

500

• Wrap proximity positioning

* Sets the target position on coordinates

with the home position as a reference. Operation in the shortest distance is performed to the target position within the wrap range.

• Wrap forward direction absolute positioning

* Sets the target position on coordinates

with the home position as a reference. Operation in the forward direction is performed to the target position within the wrap range.

• Wrap reverse direction absolute positioning

* Sets the target position on coordinates

with the home position as a reference. Operation in the reverse direction is performed to the target position within the wrap range.

100

250 250

100

250 250

100

250 250

500

250 250

400

500

250 250

400

500

250 250

400

500

* The value in the square is the coordinate of the position where the motor stopped.

3-4 Positioning push-motion SD operation

position

Operating speed

Time

Travel amount

Operating speed

Time

position

Value set in the

Positioning push-motion SD operation is an operation executed by setting the motor operating speed, position (travel amount) and other items as operation data. When positioning push-motion SD operation is executed, rectangular operation (drive without acceleration/deceleration time) is executed at an operating speed set in the operation data. After that, the motor is operated with the speed maintained and stops when it reaches the target position. In addition, if you use the TLC output as a completion signal of push-motion operation, you can judge whether or not pushmotion against the load occurred during operation.

Set the operating current of the next data to the value of the operating current before linking or less. If a value larger than that of the operating current before linking, the push-motion current may become larger when operation transits, and unexpected push-motion force may be applied.

zOperation

When start position < target position (forward direction)

Speed

Operating speed

Starting speed

position

Travel amount

Target

position

PositionStarting

Starting speed

Operating current

Stop current

Speed

Current

Stored data (SD) operation

2 Operation

(travel amount)

Drive-complet delay time

Time0

When start position > target position (reverse direction)

Speed

Starting speed

Target

position

•The travel amount of positioning push-motion SD operation is −2,147,483,648 to +2,147,483,647 steps. When the travel amount of the motor exceeds the maximum travel amount of the upper limit or lower limit, an alarm of operation data error is generated.

•Since positioning push-motion SD operation is a rectangular operation (drive without acceleration/deceleration time), the motor may not operate normally if the operating speed is too high.

•When the motor moves to the Excessive position deviation alarm zone due to an external force, an alarm of overow rotation is generated.

Excessive position deviation alarm zone

Starting position

Position

"Excessive position deviation alarm" parameter

Operating speed

Operating current

Starting

Speed

Starting speed

Current

Stop current

Target

Starting

position

Position

(travel amount)

Excessive position deviation alarm zone

Target

position

Time

Drive-complet delay time

2 Operation

Stored data (SD) operation

•The rotation direction (forward/reverse) of positioning push-motion SD operation depends on the setting of "Position" of operation data. When a positive value is set, the motor rotates in the forward direction. When a negative value is set, it rotates in the reverse direction.

•When a negative value is set to "Operating speed" of operation data, it is considered to be a speed of absolute value.

Absolute positioning push-motion

Sets the target position on coordinates with the home position as a reference.

zUsage example

When the motor is operated from the present position to the target position 8,600

Setting of operation data

Incremental positioning push-motion (based on command position)

Sets the travel amount from the present command position to the target position.

zUsage example

When the motor is operated from the command position 100 to the target position 8,600

Setting of operation data

Incremental positioning push-motion (based on feedback position)

Sets the travel amount from the present feedback position to the target position.

zUsage example

When the motor is operated from the feedback position 100 to the target position 8,600

Setting of operation data

Wrap absolute positioning push-motion

Set the target position within the wrap range.

zUsage example

When the motor is operated from the present position to the target position 8,600

Setting of operation data

Stored data (SD) operation

Wrap proximity push-motion

Sets the target position within the wrap range. Positioning push-motion SD operation is executed in the rotation direction near to the target position.

zUsage example

When the motor is operated from the present position to the target position 8,600

Setting of operation data

Wrap forward direction push-motion

Sets the target position within the wrap range. Positioning push-motion SD operation is always executed in the forward direction regardless of the target position.

zUsage example

2 Operation

When the motor is operated from the present position to the target position 8,600

Setting of operation data

Wrap reverse direction push-motion

Sets the target position within the wrap range. Positioning push-motion SD operation is always executed in the reverse direction regardless of the target position.

zUsage example

When the motor is operated from the present position to the target position 8,600

Setting of operation data

2 Operation

Speed

Operating speed

Speed

osition

Time

Starting position

Operating speed

osition

Time

Stored data (SD) operation

3-5 Continuous SD operation

Continuous SD operation is an operation executed by setting the operating speed to the operation data. The motor is continuously operated in the forward direction when a positive operating speed is set, and in the reverse direction when a negative operating speed is set.

zOperation

0 < operating speed (forward direction)

Starting/

Starting speed

Target position

0 > operating speed (reverse direction)

changing speed

Operating speed

Starting/

Starting speed

PositionStarting position

Operating current

Stop current

Current

changing speed

Speed

Starting speed

•The target position of continuous SD operation is the start position (command position). The "Position" of operation data is not set.

•When continuous operation (torque) is set, the operation becomes rectangular operation (drive without acceleration/deceleration time).

changing speed

Target position

Starting/

Position

Starting speed

Operating speed

Operating current

Speed

Current

Stop current

Starting/ changing speed

Stored data (SD) operation

Speed

OFF

Speed

Time

Continuous operation (Position control)

Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained. Operation is executed while the position deviation is monitored, so when a load exceeding the torque of the motor is applied, an alarm of overload or excessive position deviation is generated.

zUsage example

Setting of operation data

Operation image

2,000

500

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON. The READY output is turned OFF, and the motor starts operation.

3. Check that the READY output has been turned OFF and turn the START input OFF.

4. When the STOP input is turned ON, the motor starts deceleration stop.

5. When the motor stops, the READY output is turned ON.

M0 to M7 input

START input

STOP input

READY output

OFF

Position

2,000

2 Operation

1.5

500

START

ternal speed command

Stored data (SD) operation

Speed

OFF

Speed

Time

Continuous operation (Speed control)

Sets the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained. When the motor enters an overload status, the position deviation is xed to a certain value. When a load exceeding the torque of the motor is applied, an alarm of overload is generated.

zUsage example

Setting of operation data

Operation image

2 Operation

2,000

500

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON. The READY output is turned OFF, and the motor starts operation.

3. Check that the READY output has been turned OFF and turn the START input OFF.

4. When the STOP input is turned ON, the motor starts deceleration stop.

5. When the motor stops, the READY output is turned ON.

M0 to M7 input

STOP input OFF

START input

READY output

OFF

Position

2,000

1.5

500

START

ternal speed command

Stored data (SD) operation

Speed

Time

OFF

Continuous operation (Push-motion)

Set the operating speed to the operation data to execute operation. When the operation is executed, the motor is started running at the starting speed and accelerates until the operating speed is reached. When the operating speed is reached, operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.

zUsage example

Setting of operation data

Operation image

2,000

500

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON. The READY output is turned OFF, and the motor starts operation.

3. Check that the READY output has been turned OFF and turn the START input OFF.

4. When the STOP input is turned ON, the motor starts deceleration stop.

5. When the motor stops, the READY output is turned ON.

M0 to M7 input

START input

STOP input

READY output

2,000

Push Push

500

Position

TLC

OFF

START

1.5

2 Operation

ternal speed command

Stored data (SD) operation

Speed

OFF

Speed

Time

Continuous operation (Torque control)

Rectangular operation (drive without acceleration/deceleration time) of the motor is executed at the speed set in the operation data, and operation is continued with the speed maintained. When a mechanism installed to the motor presses against a load, pressure is continuously applied to the load.

zUsage example

Setting of operation data

Operation image

2 Operation

2,000

500

Operation method

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs and turn the START input ON. The READY output is turned OFF, and the motor starts operation.

3. Check that the READY output has been turned OFF and turn the START input OFF.

4. Turn the STOP input ON. The motor stops immediately.

5. When the motor stops, the READY output is turned ON.

M0 to M7 input

START input

STOP input

READY output

OFF

Position

START

2,000

500

ternal speed command

3-6 Mode for link operation of operation data

More than one operation data number are linked. If the base point for the link operation is changed using the M0 to M7 inputs or the D-SEL0 to D-SEL7 inputs, link operation with multiple patterns can be set. It can be used when setting a dierent operation pattern for each load. The timing to transit to the operation data number of the next data varies depending on the type of operation.

zIn case of positioning SD operation or positioning push-motion SD operation

•When the command position has reached the target position

•When the NEXT input has been turned ON

•When the event jump function has been executed (

zIn case of continuous SD operation

•When the NEXT input has been turned ON

•When the event jump function has been executed (

Related operation data

"Event jump function" on p.95)

Stored data (SD) operation

MEXE02

tree view Item Description Initial value

Operation data

Link

Next data No.

Sets the mode for link operation.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

2 Operation

−1

Stored data (SD) operation

DELA

OFF

No link (single-motion operation)

Operation is executed once with one operation data number.

Related I/O signals

Motor operation

Drive-complete

delay time

2 Operation

START input

M0 to M7 input

MOVE output

READY output

IN-POS output

SEQ-BSY output

OPE-BSY output

Y-BSY output

CRNT output

MBC output

OFF

Stored data (SD) operation

Speed

Manual sequential operation

Operation of the operation data number set in "Next data No." is executed whenever the SSTART input is turned ON. This method is convenient when multiple positioning operations must be executed sequentially, because there is no need to repeatedly select each operation data number.

•When the operation of the operation data number for which manual sequential operation is set is complete, the SEQ-BSY output is turned ON (manual sequential waiting status). Operation of the operation data number set in "Next data No." is executed when the SSTART input is turned ON in this status.

•Operation of the operation data number currently selected is executed when the SSTART input is turned ON with the SEQ-BSY output OFF.

zUsage example

When positioning operation is performed for multiple coordinates at an arbitrary timing

Setting of operation data

Operation image

2 Operation

2,000

1,500

500

1,500

2,000

1,500

500

No.2

No.1

Position2,000

1,500

START

SSTA RT

No.0 No.0

300

100

1,000

No.1

No.2

Time

Stored data (SD) operation

Timing chart

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs.

3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the operation is complete, the READY output is turned ON.

6. Check that the READY output has been turned ON and turn the SSTART input ON. The operation of the operation data number linked in manual sequential is started.

7. Check that the READY output has been turned OFF and turn the SSTART input OFF.

8. When all the operations linked are complete, the SEQ-BSY output is turned OFF, and the READY output is turned ON.

2 Operation

START input

M0 to M7 input

SSTART input

READY output

SEQ-BSY output

OFF

3 4

ternal speed command

Related I/O signals

M-ACT0 to M-ACT7 output

OFF

Motor operation

Stored data (SD) operation

START input

SSTART input

M0 to M7 input

MOVE output

READY output

IN-POS output

SEQ-BSY output

OPE-BSY output

DELAY-BSY output

CRNT output

MBC output

D-END0 output

D-END1 output

D-END2 output

M-CHG output

AUTO-CD output

OFF

2 Operation

Stored data (SD) operation

Speed

Automatic sequential operation

More than one operation are executed automatically and sequentially. After one operation is complete, operation of the operation data number set in "Next data No." is started after stop for the time set in "Drive-complete delay time." If operation data includes data for which "No link" is set, the motor is stopped after the stored data operation with respect to the "No link" operation data is completed.

zUsage example

When positioning operation is performed automatically for multiple coordinates

Operation image

2 Operation

2,000

1,500

500

1,500

No.0 No.0

300

100

1,000

No.1

Position2,000

No.2

2,000

1,500

500

No.1

No.2

START

Timing chart

1. Check that READY is ON.

2. Select the operation data number using the M0 to M7 inputs.

3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the rst operation is complete, operation linked in "Automatic sequential" is started after stop for time set in "Drive-complete delay time."

6. When all the operations linked are complete, the SEQ-BSY output is turned OFF, and the READY output is turned ON.

Time

START input

M0 to M7 input

READY output

SEQ-BSY output

OFF

2 4

ternal speed command

Related I/O signals

M-ACT0 to M-ACT7 output

OFF

Motor operation

Stored data (SD) operation

START input

M0 to M7 input

MOVE output

READY output

IN-POS output

SEQ-BSY output

OPE-BSY output

DELAY-BSY output

CRNT output

MBC output

D-END0 output

D-END1 output

D-END2 output

M-CHG output

AUTO-CD output

OFF

2 Operation

Stored data (SD) operation

Type connection operation

Operation of the operation data number set in "Next data No." is executed continuously without stopping the motor. If operation data includes data for which "No link" is set, the motor is stopped after the stored data operation with respect to the "No link" operation data is completed.

zUsage example

When the speed is changed at a specied position

Setting of operation data

Operation image

2 Operation

Speed

3,000

2,000

1,000

500

2,000

Starting/changing

Speed

3,000

No.1

3,000

Position

No.0 No.0

100

* If the direction of the operation is switched to the opposite direction while the operation is executed, the motor

passes by the target position.

1300

1,000

1700

No.3 No.3

•To link to the next operation data number, the motor accelerates with the starting/changing speed rate of the next data.

•When the motor rotates in the opposite direction in the operation of the next data, it decelerates at the stopping deceleration of the next data.

•To stop, the motor decelerates at the stopping deceleration of the operation data number linked last.

2,000

1,000

500

2,000

START

speed rate of data No.1

No.1 No.2No.2

Starting/changing

speed rate of data No.3

speed rate of data No.2

Starting/changing

Stopping deceleration

of data No.3

Time

Stopping deceleration

of data No.3

Stored data (SD) operation

Timing chart

1. Check that the READY output is ON.

2. Select the operation data number using the M0 to M7 inputs.

3. Turn the START input ON. The READY output is turned OFF, and the SEQ-BSY output is turned ON. Then, the motor starts operation.

4. Check that the READY output has been turned OFF and turn the START input OFF.

5. When the motor in operation reaches the target position, it transits to the next operation linked, and acceleration/ deceleration from the present speed to the target speed is started.

6. When all the operations linked are complete, the SEQ-BSY output is turned OFF, and the READY output is turned ON.

M0 to M7 input

SEQ-BSY output

ternal speed command

START input

READY output

OFF

2 Operation

Stored data (SD) operation

M-

OFF

Related I/O signals

Motor operation

2 Operation

START input

M0 to M7 input

MOVE output

READY output

IN-POS output

SEQ-BSY output

OPE-BSY output

DELAY-BSY output

CRNT output

MBC output

D-END0 output

D-END1 output

D-END2 output

D-END3 output

ACT0 to M-ACT7 output

M-CHG output

OFF

3-7 Sequence function

Loop start

loop completion

Loop function

The loop function is a function to repeat the operation of the linked operation data number for the number of times set. Operation is repeated from the operation data number for which "Loop count" is set to the operation data number to which "Loop end No." is set for the number of times set in the "Loop count." When the operation for the number of times set is completed, the operation transits to the operation data number that is set to "Next data No."

No.0 No.2 No.3No.1

Stored data (SD) operation

Repeated for the set number of times

If "No link" is included in "Link" of the operation data number to be looped, the operation stops in the operation data number for which "No link" is set. Be sure to link all the operations with "Manual sequential," "Automatic sequential," or "Continuous form connection."

Related operation data

MEXE02

tree view Item Description Initial value

Link

Next data No.

Operation data

Loop count

Loop oset

Loop end No.

Loop completion

Sets the mode for link operation.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

Sets the number of times of loop.

Setting range 0: − (No loop) 2 to 255: loop 2{to loop 255{ (number of times of loop)

Osets the position (travel amount) every time loop is executed.

Setting range

−4,194,304 to 4,194,303 steps

Sets to the operation data number in which loop is completed.

Setting range 0: −(Not the loop end point) 1: }L-End (loop end point)

Transit to the operation

of the next data after

2 Operation

−1

2 Operation

Time

Speed Speed

Stored data (SD) operation

zUsage example

When operation from the operation data No.0 to No.1 is repeated three times

Setting of operation data

Operation image

2,000

1,000

500

100

2,000

5,000

Position

2,000

1,000

500

No.2

No.0

1.5

No.1

1.5

No.0

1.5

No.1

1.5

No.0

1.5

No.1

1.5

2,000

zOset of loop

When the oset is set, the target position of positioning can be moved for the amount set in "Loop oset" while repeating loop. Use this function for palletizing operation.

Usage example When operation from the operation data No.0 to No.1 is repeated three times. (The target position is increased by 100 steps for each loop)

Setting of operation data

•In case of absolute positioning The coordinate of the target position is oset.

•In case of incremental positioning The travel amount to the target position is oset.

2,000

START

Stored data (SD) operation

Speed

Loop oset

Speed

Coordinate

Event trigger detection

Operation image

100 100

1,200

500

1,200

100

1000 1,100 1,200

Position

Event jump function

The event jump function is a function to branch operation with ON/OFF of the signal set in "Event trigger I/O" of operation I/O event. When an event trigger I/O is detected during link operation or loop operation, operation is transited to "Next data No." forcibly. For one operation data piece, two types of events "(Low) I/O event No." and "(High) I/O event No." can be set. If the event triggers of "(Low) I/O event No." and "(High) I/O event No." are detected at the same time, the "(High) I/O event No." has priority.

2 Operation

Push-motion

Continuous

operation

Absolute positioning operation

operation

Without

push-motion

With push-motion

Related operation data

MEXE02

tree view Item Description Initial value

(Low) I/O event No.

Operation data

(High) I/O event No.

Selects the operation I/O event number.

Setting range

−1:−(Disable) 0 to 31: Operation I/O event No.

−1

Related I/O event

MEXE02

Operation I/O event

tree view Item Description Initial value

Sets the link method after event trigger detection.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

Sets the waiting time generated after event trigger detection.

Setting range 0 to 65,535 (1=0.001 s)

Link

Next data No.

Dwell

−256

Stored data (SD) operation

2 Operation

MEXE02

Operation I/O event

tree view Item Description Initial value

Event trigger I/O

Event trigger type

Event trigger count

Sets I/O to be used as an event trigger.

Setting range Refer to "2 Signal list" on p.165.

Sets the timing to detect the event trigger.

Sets the judgment time or detection times to detect the event trigger.

Setting range 0 to 65,535 (1=1 msec or 1=Once)

0: Not used

zEvent trigger type



ON edge



OFF edge



Stored data (SD) operation

Trigger I/O

Trigger count

Internal timer

Event

ON (msec)

Trigger I/O

Trigger count

Internal timer

Event

OFF

Trigger I/O

Trigger count

Internal timer

OFF (msec)



Trigger I/O

Trigger count

Internal timer

Event

OFF

2 Operation

ON (calculated cumulative msec)

OFF (calculated cumulative msec)



Trigger I/O

Trigger count

Internal timer

ON (cumulative msec)

Trigger I/O

Trigger count

Internal timer

Event

OFF

Trigger I/O

OFF

Trigger count

Internal timer

Event

OFF

ON (cumulative msec)



Trigger I/O

OFF

Trigger count

Internal timer

Event

OFF

ON (cumulative) and OFF (cumulative) support the driver Ver. 3.00 or later.

2 Operation

Speed

Time

Speed

Without

Stored data (SD) operation

zUsage example

When absolute positioning push-motion operation of the operation data No.0 is executed

•Without push-motion: Operation of the operation data No.1 is started after completion of operation of the operation data No.0. (No event generated)

•With push-motion: Operation of the operation data No.2 is started after detection of the ON edge of the TLC output. (Low event generated)

Setting of operation data

Operation I/O event setting

Operation image

Push-motion

1,000

500

1,000

100 2,000

With push-motion

push-motion

Position

1,000

500

1,000

START

TLC

Push-motion

0.5

With push-motion

push-motion

0.5

3-8 Extended operation data setting

The specication of the operation data can be extended.

Extended loop function

The extended loop function is a function to execute loop operation for a number of times that cannot be set in operation data (256 or more). You can use this function to repeat simple operation as in an endurance test. Operation is repeated from the operation data number set in "Repeat start data No." to the operation data number set in "Repeat end data No." for the number of times set in "Repeat time." When the operation for the number of times set is completed, the motor transits to the operation data number that is set to "Next data No." When the extended loop function is used, the operation data from "Repeat start data No." to "Repeat end data No." is xed with the following values.

Stored data (SD) operation

MEXE02

tree view Item Fixed value

Operation data

Related operation data

MEXE02

tree view Item Description Initial value

Operation data

Next data No.

Area oset 0

Area width −1

Loop count

Loop oset 0

Loop end No.

(Low) I/O event No. −

(High) I/O event No. −

Link

Next data No.

↓

Repeat start operation number: Number of times of repeat Other: −

Repeat end operation number: End Other: −

Sets the mode for link operation.

Setting range 0: No link 1: Manual sequential 2: Automatic sequential 3: Continuous form connection

Sets the next data.

Setting range

−256: Stop

−2: ↓↓(+2)

−1: ↓(+1) 0 to 255: Operation data number

(+1)

2 Operation

−1

Stored data (SD) operation

Speed

Time

Speed

Related extended operation data setting

2 Operation

MEXE02

tree view Item Description Initial value

Sets the operation data number from which extended loop operation is started.

Repeat start data No.

Setting range

−1: Disable 0 to 255: Operation data number

Sets the operation data number in which

Extended operation

data setting

Repeat end data No.

extended loop operation is completed.

Setting range

−1: Disable 0 to 255: Operation data number

Sets the number of repeat times of extended loop operation.

Repeat time

Setting range

−1: Disable 0 to 100,000,000 times

zUsage example

Transition to the operation data No.2 after repeating the operation data No.0 and No.1 500 times.

Operation data setting

−1

2,000

1,000

500

2,000

Extended operation data setting

Operation image

100

400

2,000

Position

2,000

1,000

500

2,000

START

1.5

No.0

1.5

No.1

1.5

No.0

No.1

1.5

No.0

1.5

No.1

1.5

No.2

1.5

100

Oriental motor AZM14, AZ, AZM46, AZM48, AZM66 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Before starting operation

1 Steps of preparation for operation

Starting the MEXE02

4-2 Method of recovery

5 Setting of display unit and resolution

5-1 Setting example for when an index table is used

5-2 Setting example for when a linear mechanism is assembled

6 Home position setting

7 Wrap setting

8 Setting of software limit

9 Operation check

10 Backup of data

Operation

Flow of setting required for positioning operation

2 Setting of resolution

3 Stored data (SD) operation

3-1 Types of stored data (SD) operation

3-2 Setting of data

3-3 Positioning SD operation

3-4 Positioning push-motion SD operation

3-5 Continuous SD operation

3-6 Mode for link operation of operation data

3-7 Sequence function

3-8 Extended operation data setting